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Merge remote-tracking branch 'upstream/master' into diff_press_filter 

Conflicts:
	src/modules/sdlog2/sdlog2.c
This commit is contained in:
Thomas Gubler 2014-03-15 12:28:29 +01:00
parent 0784ef9189 e590d96c0a
commit 07cff8e0bd
21 changed files with 2902 additions and 725 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
ROMFS/px4fmu_common/init.d/10016_3dr_iris
View File

@ -10,11 +10,11 @@ sh /etc/init.d/rc.mc_defaults
if [ $DO_AUTOCONFIG == yes ]
then
# TODO tune roll/pitch separately
param set MC_ROLL_P 9.0
param set MC_ROLL_P 7.0
param set MC_ROLLRATE_P 0.13
param set MC_ROLLRATE_I 0.0
param set MC_ROLLRATE_D 0.004
param set MC_PITCH_P 9.0
param set MC_PITCH_P 7.0
param set MC_PITCHRATE_P 0.13
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.004

4
ROMFS/px4fmu_common/init.d/4008_ardrone
View File

@ -23,13 +23,15 @@ then
param set MC_PITCHRATE_I 0.0
param set MC_PITCHRATE_D 0.0
param set MC_YAW_P 1.0
param set MC_YAW_D 0.1
param set MC_YAWRATE_P 0.15
param set MC_YAWRATE_I 0.0
param set MC_YAWRATE_D 0.0
param set MC_YAW_FF 0.15
param set BAT_V_SCALING 0.00838095238
fi
set OUTPUT_MODE ardrone
set USE_IO no
set MIXER skip
# set MAV_TYPE because no specific mixer is set
set MAV_TYPE 2

7
ROMFS/px4fmu_common/init.d/rcS
View File

@ -118,6 +118,7 @@ then
set MKBLCTRL_MODE none
set FMU_MODE pwm
set MAV_TYPE none
set LOAD_DEFAULT_APPS yes
#
# Set DO_AUTOCONFIG flag to use it in AUTOSTART scripts
@ -465,8 +466,11 @@ then
sh /etc/init.d/rc.interface
# Start standard fixedwing apps
if [ LOAD_DEFAULT_APPS == yes ]
then
sh /etc/init.d/rc.fw_apps
fi
fi
#
# Multicopters setup
@ -521,8 +525,11 @@ then
sh /etc/init.d/rc.interface
# Start standard multicopter apps
if [ LOAD_DEFAULT_APPS == yes ]
then
sh /etc/init.d/rc.mc_apps
fi
fi
#
# Generic setup (autostart ID not found)

133
Tools/fetch_log.py Normal file
View File

@ -0,0 +1,133 @@
#!/usr/bin/env python
############################################################################
#
# Copyright (C) 2012, 2013 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
#
# Log fetcher
#
# Print list of logs:
# python fetch_log.py
#
# Fetch log:
# python fetch_log.py sess001/log001.bin
#
import serial, time, sys, os
def wait_for_string(ser, s, timeout=1.0, debug=False):
t0 = time.time()
buf = []
res = []
n = 0
while (True):
c = ser.read()
if debug:
sys.stderr.write(c)
buf.append(c)
if len(buf) > len(s):
res.append(buf.pop(0))
n += 1
if n % 10000 == 0:
sys.stderr.write(str(n) + "\n")
if "".join(buf) == s:
break
if timeout > 0.0 and time.time() - t0 > timeout:
raise Exception("Timeout while waiting for: " + s)
return "".join(res)
def exec_cmd(ser, cmd, timeout):
ser.write(cmd + "\n")
ser.flush()
wait_for_string(ser, cmd + "\r\n", timeout)
return wait_for_string(ser, "nsh> \x1b[K", timeout)
def ls_dir(ser, dir, timeout=1.0):
res = []
for line in exec_cmd(ser, "ls -l " + dir, timeout).splitlines()[1:]:
res.append((line[20:], int(line[11:19].strip()), line[1] == "d"))
return res
def list_logs(ser):
logs_dir = "/fs/microsd/log"
res = []
for d in ls_dir(ser, logs_dir):
if d[2]:
sess_dir = d[0][:-1]
for f in ls_dir(ser, logs_dir + "/" + sess_dir):
log_file = f[0]
log_size = f[1]
res.append(sess_dir + "/" + log_file + "\t" + str(log_size))
return "\n".join(res)
def fetch_log(ser, fn, timeout):
cmd = "dumpfile " + fn
ser.write(cmd + "\n")
ser.flush()
wait_for_string(ser, cmd + "\r\n", timeout, True)
res = wait_for_string(ser, "\n", timeout, True)
data = []
if res.startswith("OK"):
size = int(res.split()[1])
n = 0
print "Reading data:"
while (n < size):
buf = ser.read(min(size - n, 8192))
data.append(buf)
n += len(buf)
sys.stdout.write(".")
sys.stdout.flush()
print
else:
raise Exception("Error reading log")
wait_for_string(ser, "nsh> \x1b[K", timeout)
return "".join(data)
def main():
dev = "/dev/tty.usbmodem1"
ser = serial.Serial(dev, "115200", timeout=0.2)
if len(sys.argv) < 2:
print list_logs(ser)
else:
log_file = sys.argv[1]
data = fetch_log(ser, "/fs/microsd/log/" + log_file, 1.0)
try:
os.mkdir(log_file.split("/")[0])
except:
pass
fout = open(log_file, "wb")
fout.write(data)
fout.close()
ser.close()
if __name__ == "__main__":
main()

1
makefiles/config_px4fmu-v1_default.mk
View File

@ -56,6 +56,7 @@ MODULES += systemcmds/tests
MODULES += systemcmds/config
MODULES += systemcmds/nshterm
MODULES += systemcmds/hw_ver
MODULES += systemcmds/dumpfile
#
# General system control

3
makefiles/config_px4fmu-v2_default.mk
View File

@ -27,6 +27,7 @@ MODULES += drivers/l3gd20
MODULES += drivers/hmc5883
MODULES += drivers/ms5611
MODULES += drivers/mb12xx
MODULES += drivers/sf0x
MODULES += drivers/gps
MODULES += drivers/hil
MODULES += drivers/hott/hott_telemetry
@ -63,6 +64,7 @@ MODULES += systemcmds/config
MODULES += systemcmds/nshterm
MODULES += systemcmds/mtd
MODULES += systemcmds/hw_ver
MODULES += systemcmds/dumpfile
#
# General system control
@ -71,6 +73,7 @@ MODULES += modules/commander
MODULES += modules/navigator
MODULES += modules/mavlink
MODULES += modules/mavlink_onboard
MODULES += modules/gpio_led
#
# Estimation modules (EKF/ SO3 / other filters)

84
src/drivers/drv_px4flow.h Normal file
View File

@ -0,0 +1,84 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file Rangefinder driver interface.
*/
#ifndef _DRV_PX4FLOW_H
#define _DRV_PX4FLOW_H
#include <stdint.h>
#include <sys/ioctl.h>
#include "drv_sensor.h"
#include "drv_orb_dev.h"
#define PX4FLOW_DEVICE_PATH "/dev/px4flow"
/**
* Optical flow in NED body frame in SI units.
*
* @see http://en.wikipedia.org/wiki/International_System_of_Units
*/
struct px4flow_report {
uint64_t timestamp; /**< in microseconds since system start */
int16_t flow_raw_x; /**< flow in pixels in X direction, not rotation-compensated */
int16_t flow_raw_y; /**< flow in pixels in Y direction, not rotation-compensated */
float flow_comp_x_m; /**< speed over ground in meters, rotation-compensated */
float flow_comp_y_m; /**< speed over ground in meters, rotation-compensated */
float ground_distance_m; /**< Altitude / distance to ground in meters */
uint8_t quality; /**< Quality of the measurement, 0: bad quality, 255: maximum quality */
uint8_t sensor_id; /**< id of the sensor emitting the flow value */
};
/*
* ObjDev tag for px4flow data.
*/
ORB_DECLARE(optical_flow);
/*
* ioctl() definitions
*
* px4flow drivers also implement the generic sensor driver
* interfaces from drv_sensor.h
*/
#define _PX4FLOWIOCBASE (0x7700)
#define __PX4FLOWIOC(_n) (_IOC(_PX4FLOWIOCBASE, _n))
#endif /* _DRV_PX4FLOW_H */

130
src/drivers/mb12xx/mb12xx.cpp
View File

@ -200,7 +200,7 @@ MB12XX::MB12XX(int bus, int address) :
_buffer_overflows(perf_alloc(PC_COUNT, "mb12xx_buffer_overflows"))
{
// enable debug() calls
_debug_enabled = true;
_debug_enabled = false;
// work_cancel in the dtor will explode if we don't do this...
memset(&_work, 0, sizeof(_work));
@ -212,9 +212,10 @@ MB12XX::~MB12XX()
stop();
/* free any existing reports */
if (_reports != nullptr)
if (_reports != nullptr) {
delete _reports;
}
}
int
MB12XX::init()
@ -222,22 +223,25 @@ MB12XX::init()
int ret = ERROR;
/* do I2C init (and probe) first */
if (I2C::init() != OK)
if (I2C::init() != OK) {
goto out;
}
/* allocate basic report buffers */
_reports = new RingBuffer(2, sizeof(range_finder_report));
if (_reports == nullptr)
if (_reports == nullptr) {
goto out;
}
/* get a publish handle on the range finder topic */
struct range_finder_report zero_report;
memset(&zero_report, 0, sizeof(zero_report));
_range_finder_topic = orb_advertise(ORB_ID(sensor_range_finder), &zero_report);
if (_range_finder_topic < 0)
if (_range_finder_topic < 0) {
debug("failed to create sensor_range_finder object. Did you start uOrb?");
}
ret = OK;
/* sensor is ok, but we don't really know if it is within range */
@ -307,8 +311,9 @@ MB12XX::ioctl(struct file *filp, int cmd, unsigned long arg)
_measure_ticks = USEC2TICK(MB12XX_CONVERSION_INTERVAL);
/* if we need to start the poll state machine, do it */
if (want_start)
if (want_start) {
start();
}
return OK;
}
@ -322,15 +327,17 @@ MB12XX::ioctl(struct file *filp, int cmd, unsigned long arg)
unsigned ticks = USEC2TICK(1000000 / arg);
/* check against maximum rate */
if (ticks < USEC2TICK(MB12XX_CONVERSION_INTERVAL))
if (ticks < USEC2TICK(MB12XX_CONVERSION_INTERVAL)) {
return -EINVAL;
}
/* update interval for next measurement */
_measure_ticks = ticks;
/* if we need to start the poll state machine, do it */
if (want_start)
if (want_start) {
start();
}
return OK;
}
@ -338,21 +345,25 @@ MB12XX::ioctl(struct file *filp, int cmd, unsigned long arg)
}
case SENSORIOCGPOLLRATE:
if (_measure_ticks == 0)
if (_measure_ticks == 0) {
return SENSOR_POLLRATE_MANUAL;
}
return (1000 / _measure_ticks);
case SENSORIOCSQUEUEDEPTH: {
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 1) || (arg > 100))
if ((arg < 1) || (arg > 100)) {
return -EINVAL;
}
irqstate_t flags = irqsave();
if (!_reports->resize(arg)) {
irqrestore(flags);
return -ENOMEM;
}
irqrestore(flags);
return OK;
@ -365,18 +376,18 @@ MB12XX::ioctl(struct file *filp, int cmd, unsigned long arg)
/* XXX implement this */
return -EINVAL;
case RANGEFINDERIOCSETMINIUMDISTANCE:
{
case RANGEFINDERIOCSETMINIUMDISTANCE: {
set_minimum_distance(*(float *)arg);
return 0;
}
break;
case RANGEFINDERIOCSETMAXIUMDISTANCE:
{
case RANGEFINDERIOCSETMAXIUMDISTANCE: {
set_maximum_distance(*(float *)arg);
return 0;
}
break;
default:
/* give it to the superclass */
return I2C::ioctl(filp, cmd, arg);
@ -391,8 +402,9 @@ MB12XX::read(struct file *filp, char *buffer, size_t buflen)
int ret = 0;
/* buffer must be large enough */
if (count < 1)
if (count < 1) {
return -ENOSPC;
}
/* if automatic measurement is enabled */
if (_measure_ticks > 0) {
@ -453,12 +465,12 @@ MB12XX::measure()
uint8_t cmd = MB12XX_TAKE_RANGE_REG;
ret = transfer(&cmd, 1, nullptr, 0);
if (OK != ret)
{
if (OK != ret) {
perf_count(_comms_errors);
log("i2c::transfer returned %d", ret);
return ret;
}
ret = OK;
return ret;
@ -476,8 +488,7 @@ MB12XX::collect()
ret = transfer(nullptr, 0, &val[0], 2);
if (ret < 0)
{
if (ret < 0) {
log("error reading from sensor: %d", ret);
perf_count(_comms_errors);
perf_end(_sample_perf);
@ -525,11 +536,13 @@ MB12XX::start()
true,
true,
true,
SUBSYSTEM_TYPE_RANGEFINDER};
SUBSYSTEM_TYPE_RANGEFINDER
};
static orb_advert_t pub = -1;
if (pub > 0) {
orb_publish(ORB_ID(subsystem_info), pub, &info);
} else {
pub = orb_advertise(ORB_ID(subsystem_info), &info);
}
@ -583,8 +596,9 @@ MB12XX::cycle()
}
/* measurement phase */
if (OK != measure())
if (OK != measure()) {
log("measure error");
}
/* next phase is collection */
_collect_phase = true;
@ -635,33 +649,37 @@ start()
{
int fd;
if (g_dev != nullptr)
if (g_dev != nullptr) {
errx(1, "already started");
}
/* create the driver */
g_dev = new MB12XX(MB12XX_BUS);
if (g_dev == nullptr)
if (g_dev == nullptr) {
goto fail;
}
if (OK != g_dev->init())
if (OK != g_dev->init()) {
goto fail;
}
/* set the poll rate to default, starts automatic data collection */
fd = open(RANGE_FINDER_DEVICE_PATH, O_RDONLY);
if (fd < 0)
if (fd < 0) {
goto fail;
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
goto fail;
}
exit(0);
fail:
if (g_dev != nullptr)
{
if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
}
@ -674,15 +692,14 @@ fail:
*/
void stop()
{
if (g_dev != nullptr)
{
if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
}
else
{
} else {
errx(1, "driver not running");
}
exit(0);
}
@ -700,22 +717,25 @@ test()
int fd = open(RANGE_FINDER_DEVICE_PATH, O_RDONLY);
if (fd < 0)
if (fd < 0) {
err(1, "%s open failed (try 'mb12xx start' if the driver is not running", RANGE_FINDER_DEVICE_PATH);
}
/* do a simple demand read */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report))
if (sz != sizeof(report)) {
err(1, "immediate read failed");
}
warnx("single read");
warnx("measurement: %0.2f m", (double)report.distance);
warnx("time: %lld", report.timestamp);
/* start the sensor polling at 2Hz */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2))
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
errx(1, "failed to set 2Hz poll rate");
}
/* read the sensor 5x and report each value */
for (unsigned i = 0; i < 5; i++) {
@ -726,20 +746,27 @@ test()
fds.events = POLLIN;
ret = poll(&fds, 1, 2000);
if (ret != 1)
if (ret != 1) {
errx(1, "timed out waiting for sensor data");
}
/* now go get it */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report))
if (sz != sizeof(report)) {
err(1, "periodic read failed");
}
warnx("periodic read %u", i);
warnx("measurement: %0.3f", (double)report.distance);
warnx("time: %lld", report.timestamp);
}
/* reset the sensor polling to default rate */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) {
errx(1, "failed to set default poll rate");
}
errx(0, "PASS");
}
@ -751,14 +778,17 @@ reset()
{
int fd = open(RANGE_FINDER_DEVICE_PATH, O_RDONLY);
if (fd < 0)
if (fd < 0) {
err(1, "failed ");
}
if (ioctl(fd, SENSORIOCRESET, 0) < 0)
if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
err(1, "driver reset failed");
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
err(1, "driver poll restart failed");
}
exit(0);
}
@ -769,8 +799,9 @@ reset()
void
info()
{
if (g_dev == nullptr)
if (g_dev == nullptr) {
errx(1, "driver not running");
}
printf("state @ %p\n", g_dev);
g_dev->print_info();
@ -786,32 +817,37 @@ mb12xx_main(int argc, char *argv[])
/*
* Start/load the driver.
*/
if (!strcmp(argv[1], "start"))
if (!strcmp(argv[1], "start")) {
mb12xx::start();
}
/*
* Stop the driver
*/
if (!strcmp(argv[1], "stop"))
if (!strcmp(argv[1], "stop")) {
mb12xx::stop();
}
/*
* Test the driver/device.
*/
if (!strcmp(argv[1], "test"))
if (!strcmp(argv[1], "test")) {
mb12xx::test();
}
/*
* Reset the driver.
*/
if (!strcmp(argv[1], "reset"))
if (!strcmp(argv[1], "reset")) {
mb12xx::reset();
}
/*
* Print driver information.
*/
if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status"))
if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) {
mb12xx::info();
}
errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
}

40
src/drivers/px4flow/module.mk Normal file
View File

@ -0,0 +1,40 @@
############################################################################
#
# Copyright (c) 2013 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
#
# Makefile to build the PX4FLOW driver.
#
MODULE_COMMAND = px4flow
SRCS = px4flow.cpp

806
src/drivers/px4flow/px4flow.cpp Normal file
View File

@ -0,0 +1,806 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file px4flow.cpp
* @author Dominik Honegger
*
* Driver for the PX4FLOW module connected via I2C.
*/
#include <nuttx/config.h>
#include <drivers/device/i2c.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdlib.h>
#include <stdbool.h>
#include <semaphore.h>
#include <string.h>
#include <fcntl.h>
#include <poll.h>
#include <errno.h>
#include <stdio.h>
#include <math.h>
#include <unistd.h>
#include <nuttx/arch.h>
#include <nuttx/wqueue.h>
#include <nuttx/clock.h>
#include <systemlib/perf_counter.h>
#include <systemlib/err.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_px4flow.h>
#include <drivers/device/ringbuffer.h>
#include <uORB/uORB.h>
#include <uORB/topics/subsystem_info.h>
//#include <uORB/topics/optical_flow.h>
#include <board_config.h>
/* Configuration Constants */
#define PX4FLOW_BUS PX4_I2C_BUS_EXPANSION
#define I2C_FLOW_ADDRESS 0x45 //* 7-bit address. 8-bit address is 0x8A
//range 0x42 - 0x49
/* PX4FLOW Registers addresses */
#define PX4FLOW_REG 0x00 /* Measure Register */
#define PX4FLOW_CONVERSION_INTERVAL 8000 /* 8ms 125Hz
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;
#ifndef CONFIG_SCHED_WORKQUEUE
# error This requires CONFIG_SCHED_WORKQUEUE.
#endif
//struct i2c_frame
//{
// uint16_t frame_count;
// int16_t pixel_flow_x_sum;
// int16_t pixel_flow_y_sum;
// int16_t flow_comp_m_x;
// int16_t flow_comp_m_y;
// int16_t qual;
// int16_t gyro_x_rate;
// int16_t gyro_y_rate;
// int16_t gyro_z_rate;
// uint8_t gyro_range;
// uint8_t sonar_timestamp;
// int16_t ground_distance;
//};
//
//struct i2c_frame f;
class PX4FLOW : public device::I2C
{
public:
PX4FLOW(int bus = PX4FLOW_BUS, int address = I2C_FLOW_ADDRESS);
virtual ~PX4FLOW();
virtual int init();
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
/**
* Diagnostics - print some basic information about the driver.
*/
void print_info();
protected:
virtual int probe();
private:
work_s _work;
RingBuffer *_reports;
bool _sensor_ok;
int _measure_ticks;
bool _collect_phase;
orb_advert_t _px4flow_topic;
perf_counter_t _sample_perf;
perf_counter_t _comms_errors;
perf_counter_t _buffer_overflows;
/**
* Test whether the device supported by the driver is present at a
* specific address.
*
* @param address The I2C bus address to probe.
* @return True if the device is present.
*/
int probe_address(uint8_t address);
/**
* Initialise the automatic measurement state machine and start it.
*
* @note This function is called at open and error time. It might make sense
* to make it more aggressive about resetting the bus in case of errors.
*/
void start();
/**
* Stop the automatic measurement state machine.
*/
void stop();
/**
* Perform a poll cycle; collect from the previous measurement
* and start a new one.
*/
void cycle();
int measure();
int collect();
/**
* Static trampoline from the workq context; because we don't have a
* generic workq wrapper yet.
*
* @param arg Instance pointer for the driver that is polling.
*/
static void cycle_trampoline(void *arg);
};
/*
* Driver 'main' command.
*/
extern "C" __EXPORT int px4flow_main(int argc, char *argv[]);
PX4FLOW::PX4FLOW(int bus, int address) :
I2C("PX4FLOW", PX4FLOW_DEVICE_PATH, bus, address, 400000),//400khz
_reports(nullptr),
_sensor_ok(false),
_measure_ticks(0),
_collect_phase(false),
_px4flow_topic(-1),
_sample_perf(perf_alloc(PC_ELAPSED, "px4flow_read")),
_comms_errors(perf_alloc(PC_COUNT, "px4flow_comms_errors")),
_buffer_overflows(perf_alloc(PC_COUNT, "px4flow_buffer_overflows"))
{
// enable debug() calls
_debug_enabled = true;
// work_cancel in the dtor will explode if we don't do this...
memset(&_work, 0, sizeof(_work));
}
PX4FLOW::~PX4FLOW()
{
/* make sure we are truly inactive */
stop();
/* free any existing reports */
if (_reports != nullptr)
delete _reports;
}
int
PX4FLOW::init()
{
int ret = ERROR;
/* do I2C init (and probe) first */
if (I2C::init() != OK)
goto out;
/* allocate basic report buffers */
_reports = new RingBuffer(2, sizeof(px4flow_report));
if (_reports == nullptr)
goto out;
/* get a publish handle on the px4flow topic */
struct px4flow_report zero_report;
memset(&zero_report, 0, sizeof(zero_report));
_px4flow_topic = orb_advertise(ORB_ID(optical_flow), &zero_report);
if (_px4flow_topic < 0)
debug("failed to create px4flow object. Did you start uOrb?");
ret = OK;
/* sensor is ok, but we don't really know if it is within range */
_sensor_ok = true;
out:
return ret;
}
int
PX4FLOW::probe()
{
return measure();
}
int
PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
case SENSORIOCSPOLLRATE: {
switch (arg) {
/* switching to manual polling */
case SENSOR_POLLRATE_MANUAL:
stop();
_measure_ticks = 0;
return OK;
/* external signalling (DRDY) not supported */
case SENSOR_POLLRATE_EXTERNAL:
/* zero would be bad */
case 0:
return -EINVAL;
/* set default/max polling rate */
case SENSOR_POLLRATE_MAX:
case SENSOR_POLLRATE_DEFAULT: {
/* do we need to start internal polling? */
bool want_start = (_measure_ticks == 0);
/* set interval for next measurement to minimum legal value */
_measure_ticks = USEC2TICK(PX4FLOW_CONVERSION_INTERVAL);
/* if we need to start the poll state machine, do it */
if (want_start)
start();
return OK;
}
/* adjust to a legal polling interval in Hz */
default: {
/* do we need to start internal polling? */
bool want_start = (_measure_ticks == 0);
/* convert hz to tick interval via microseconds */
unsigned ticks = USEC2TICK(1000000 / arg);
/* check against maximum rate */
if (ticks < USEC2TICK(PX4FLOW_CONVERSION_INTERVAL))
return -EINVAL;
/* update interval for next measurement */
_measure_ticks = ticks;
/* if we need to start the poll state machine, do it */
if (want_start)
start();
return OK;
}
}
}
case SENSORIOCGPOLLRATE:
if (_measure_ticks == 0)
return SENSOR_POLLRATE_MANUAL;
return (1000 / _measure_ticks);
case SENSORIOCSQUEUEDEPTH: {
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 1) || (arg > 100))
return -EINVAL;
irqstate_t flags = irqsave();
if (!_reports->resize(arg)) {
irqrestore(flags);
return -ENOMEM;
}
irqrestore(flags);
return OK;
}
case SENSORIOCGQUEUEDEPTH:
return _reports->size();
case SENSORIOCRESET:
/* XXX implement this */
return -EINVAL;
default:
/* give it to the superclass */
return I2C::ioctl(filp, cmd, arg);
}
}
ssize_t
PX4FLOW::read(struct file *filp, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(struct px4flow_report);
struct px4flow_report *rbuf = reinterpret_cast<struct px4flow_report *>(buffer);
int ret = 0;
/* buffer must be large enough */
if (count < 1)
return -ENOSPC;
/* if automatic measurement is enabled */
if (_measure_ticks > 0) {
/*
* While there is space in the caller's buffer, and reports, copy them.
* Note that we may be pre-empted by the workq thread while we are doing this;
* we are careful to avoid racing with them.
*/
while (count--) {
if (_reports->get(rbuf)) {
ret += sizeof(*rbuf);
rbuf++;
}
}
/* if there was no data, warn the caller */
return ret ? ret : -EAGAIN;
}
/* manual measurement - run one conversion */
do {
_reports->flush();
/* trigger a measurement */
if (OK != measure()) {
ret = -EIO;
break;
}
/* wait for it to complete */
usleep(PX4FLOW_CONVERSION_INTERVAL);
/* run the collection phase */
if (OK != collect()) {
ret = -EIO;
break;
}
/* state machine will have generated a report, copy it out */
if (_reports->get(rbuf)) {
ret = sizeof(*rbuf);
}
} while (0);
return ret;
}
int
PX4FLOW::measure()
{
int ret;
/*
* Send the command to begin a measurement.
*/
uint8_t cmd = PX4FLOW_REG;
ret = transfer(&cmd, 1, nullptr, 0);
if (OK != ret)
{
perf_count(_comms_errors);
log("i2c::transfer returned %d", ret);
printf("i2c::transfer flow returned %d");
return ret;
}
ret = OK;
return ret;
}
int
PX4FLOW::collect()
{
int ret = -EIO;
/* read from the sensor */
uint8_t val[22] = {0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0};
perf_begin(_sample_perf);
ret = transfer(nullptr, 0, &val[0], 22);
if (ret < 0)
{
log("error reading from sensor: %d", ret);
perf_count(_comms_errors);
perf_end(_sample_perf);
return ret;
}
// f.frame_count = val[1] << 8 | val[0];
// f.pixel_flow_x_sum= val[3] << 8 | val[2];
// f.pixel_flow_y_sum= val[5] << 8 | val[4];
// f.flow_comp_m_x= val[7] << 8 | val[6];
// f.flow_comp_m_y= val[9] << 8 | val[8];
// f.qual= val[11] << 8 | val[10];
// f.gyro_x_rate= val[13] << 8 | val[12];
// f.gyro_y_rate= val[15] << 8 | val[14];
// f.gyro_z_rate= val[17] << 8 | val[16];
// f.gyro_range= val[18];
// f.sonar_timestamp= val[19];
// f.ground_distance= val[21] << 8 | val[20];
int16_t flowcx = val[7] << 8 | val[6];
int16_t flowcy = val[9] << 8 | val[8];
int16_t gdist = val[21] << 8 | val[20];
struct px4flow_report report;
report.flow_comp_x_m = float(flowcx)/1000.0f;
report.flow_comp_y_m = float(flowcy)/1000.0f;
report.flow_raw_x= val[3] << 8 | val[2];
report.flow_raw_y= val[5] << 8 | val[4];
report.ground_distance_m =float(gdist)/1000.0f;
report.quality= val[10];
report.sensor_id = 0;
report.timestamp = hrt_absolute_time();
/* publish it */
orb_publish(ORB_ID(optical_flow), _px4flow_topic, &report);
/* post a report to the ring */
if (_reports->force(&report)) {
perf_count(_buffer_overflows);
}
/* notify anyone waiting for data */
poll_notify(POLLIN);
ret = OK;
perf_end(_sample_perf);
return ret;
}
void
PX4FLOW::start()
{
/* reset the report ring and state machine */
_collect_phase = false;
_reports->flush();
/* schedule a cycle to start things */
work_queue(HPWORK, &_work, (worker_t)&PX4FLOW::cycle_trampoline, this, 1);
/* notify about state change */
struct subsystem_info_s info = {
true,
true,
true,
SUBSYSTEM_TYPE_OPTICALFLOW};
static orb_advert_t pub = -1;
if (pub > 0) {
orb_publish(ORB_ID(subsystem_info), pub, &info);
} else {
pub = orb_advertise(ORB_ID(subsystem_info), &info);
}
}
void
PX4FLOW::stop()
{
work_cancel(HPWORK, &_work);
}
void
PX4FLOW::cycle_trampoline(void *arg)
{
PX4FLOW *dev = (PX4FLOW *)arg;
dev->cycle();
}
void
PX4FLOW::cycle()
{
/* collection phase? */
if (_collect_phase) {
/* perform collection */
if (OK != collect()) {
log("collection error");
/* restart the measurement state machine */
start();
return;
}
/* next phase is measurement */
_collect_phase = false;
/*
* Is there a collect->measure gap?
*/
if (_measure_ticks > USEC2TICK(PX4FLOW_CONVERSION_INTERVAL)) {
/* schedule a fresh cycle call when we are ready to measure again */
work_queue(HPWORK,
&_work,
(worker_t)&PX4FLOW::cycle_trampoline,
this,
_measure_ticks - USEC2TICK(PX4FLOW_CONVERSION_INTERVAL));
return;
}
}
/* measurement phase */
if (OK != measure())
log("measure error");
/* next phase is collection */
_collect_phase = true;
/* schedule a fresh cycle call when the measurement is done */
work_queue(HPWORK,
&_work,
(worker_t)&PX4FLOW::cycle_trampoline,
this,
USEC2TICK(PX4FLOW_CONVERSION_INTERVAL));
}
void
PX4FLOW::print_info()
{
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
perf_print_counter(_buffer_overflows);
printf("poll interval: %u ticks\n", _measure_ticks);
_reports->print_info("report queue");
}
/**
* Local functions in support of the shell command.
*/
namespace px4flow
{
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
const int ERROR = -1;
PX4FLOW *g_dev;
void start();
void stop();
void test();
void reset();
void info();
/**
* Start the driver.
*/
void
start()
{
int fd;
if (g_dev != nullptr)
errx(1, "already started");
/* create the driver */
g_dev = new PX4FLOW(PX4FLOW_BUS);
if (g_dev == nullptr)
goto fail;
if (OK != g_dev->init())
goto fail;
/* set the poll rate to default, starts automatic data collection */
fd = open(PX4FLOW_DEVICE_PATH, O_RDONLY);
if (fd < 0)
goto fail;
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX) < 0)
goto fail;
exit(0);
fail:
if (g_dev != nullptr)
{
delete g_dev;
g_dev = nullptr;
}
errx(1, "driver start failed");
}
/**
* Stop the driver
*/
void stop()
{
if (g_dev != nullptr)
{
delete g_dev;
g_dev = nullptr;
}
else
{
errx(1, "driver not running");
}
exit(0);
}
/**
* Perform some basic functional tests on the driver;
* make sure we can collect data from the sensor in polled
* and automatic modes.
*/
void
test()
{
struct px4flow_report report;
ssize_t sz;
int ret;
int fd = open(PX4FLOW_DEVICE_PATH, O_RDONLY);
if (fd < 0)
err(1, "%s open failed (try 'px4flow start' if the driver is not running", PX4FLOW_DEVICE_PATH);
/* do a simple demand read */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report))
// err(1, "immediate read failed");
warnx("single read");
warnx("flowx: %0.2f m/s", (double)report.flow_comp_x_m);
warnx("flowy: %0.2f m/s", (double)report.flow_comp_y_m);
warnx("time: %lld", report.timestamp);
/* start the sensor polling at 2Hz */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2))
errx(1, "failed to set 2Hz poll rate");
/* read the sensor 5x and report each value */
for (unsigned i = 0; i < 5; i++) {
struct pollfd fds;
/* wait for data to be ready */
fds.fd = fd;
fds.events = POLLIN;
ret = poll(&fds, 1, 2000);
if (ret != 1)
errx(1, "timed out waiting for sensor data");
/* now go get it */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report))
err(1, "periodic read failed");
warnx("periodic read %u", i);
warnx("flowx: %0.2f m/s", (double)report.flow_comp_x_m);
warnx("flowy: %0.2f m/s", (double)report.flow_comp_y_m);
warnx("time: %lld", report.timestamp);
}
errx(0, "PASS");
}
/**
* Reset the driver.
*/
void
reset()
{
int fd = open(PX4FLOW_DEVICE_PATH, O_RDONLY);
if (fd < 0)
err(1, "failed ");
if (ioctl(fd, SENSORIOCRESET, 0) < 0)
err(1, "driver reset failed");
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
err(1, "driver poll restart failed");
exit(0);
}
/**
* Print a little info about the driver.
*/
void
info()
{
if (g_dev == nullptr)
errx(1, "driver not running");
printf("state @ %p\n", g_dev);
g_dev->print_info();
exit(0);
}
} // namespace
int
px4flow_main(int argc, char *argv[])
{
/*
* Start/load the driver.
*/
if (!strcmp(argv[1], "start"))
px4flow::start();
/*
* Stop the driver
*/
if (!strcmp(argv[1], "stop"))
px4flow::stop();
/*
* Test the driver/device.
*/
if (!strcmp(argv[1], "test"))
px4flow::test();
/*
* Reset the driver.
*/
if (!strcmp(argv[1], "reset"))
px4flow::reset();
/*
* Print driver information.
*/
if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status"))
px4flow::info();
errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
}

6
src/drivers/px4io/px4io.cpp
View File

@ -1921,12 +1921,14 @@ PX4IO::print_status()
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE));
#endif
printf("debuglevel %u\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SET_DEBUG));
printf("controls");
for (unsigned group = 0; group < 4; group++) {
printf("controls %u:", group);
for (unsigned i = 0; i < _max_controls; i++)
printf(" %u", io_reg_get(PX4IO_PAGE_CONTROLS, i));
printf(" %d", (int16_t) io_reg_get(PX4IO_PAGE_CONTROLS, group * PX4IO_PROTOCOL_MAX_CONTROL_COUNT + i));
printf("\n");
}
for (unsigned i = 0; i < _max_rc_input; i++) {
unsigned base = PX4IO_P_RC_CONFIG_STRIDE * i;

40
src/drivers/sf0x/module.mk Normal file
View File

@ -0,0 +1,40 @@
############################################################################
#
# Copyright (c) 2014 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
#
# Makefile to build the Lightware laser range finder driver.
#
MODULE_COMMAND = sf0x
SRCS = sf0x.cpp

977
src/drivers/sf0x/sf0x.cpp Normal file
View File

@ -0,0 +1,977 @@
/****************************************************************************
*
* Copyright (c) 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file sf0x.cpp
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Greg Hulands
*
* Driver for the Lightware SF0x laser rangefinder series
*/
#include <nuttx/config.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdlib.h>
#include <stdbool.h>
#include <semaphore.h>
#include <string.h>
#include <fcntl.h>
#include <poll.h>
#include <errno.h>
#include <stdio.h>
#include <math.h>
#include <unistd.h>
#include <termios.h>
#include <nuttx/arch.h>
#include <nuttx/wqueue.h>
#include <nuttx/clock.h>
#include <systemlib/perf_counter.h>
#include <systemlib/err.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_range_finder.h>
#include <drivers/device/device.h>
#include <drivers/device/ringbuffer.h>
#include <uORB/uORB.h>
#include <uORB/topics/subsystem_info.h>
#include <board_config.h>
/* Configuration Constants */
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;
#ifndef CONFIG_SCHED_WORKQUEUE
# error This requires CONFIG_SCHED_WORKQUEUE.
#endif
#define SF0X_CONVERSION_INTERVAL 83334
#define SF0X_TAKE_RANGE_REG 'd'
#define SF02F_MIN_DISTANCE 0.0f
#define SF02F_MAX_DISTANCE 40.0f
#define SF0X_DEFAULT_PORT "/dev/ttyS2"
class SF0X : public device::CDev
{
public:
SF0X(const char *port = SF0X_DEFAULT_PORT);
virtual ~SF0X();
virtual int init();
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
/**
* Diagnostics - print some basic information about the driver.
*/
void print_info();
protected:
virtual int probe();
private:
float _min_distance;
float _max_distance;
work_s _work;
RingBuffer *_reports;
bool _sensor_ok;
int _measure_ticks;
bool _collect_phase;
int _fd;
char _linebuf[10];
unsigned _linebuf_index;
hrt_abstime _last_read;
orb_advert_t _range_finder_topic;
perf_counter_t _sample_perf;
perf_counter_t _comms_errors;
perf_counter_t _buffer_overflows;
/**
* Initialise the automatic measurement state machine and start it.
*
* @note This function is called at open and error time. It might make sense
* to make it more aggressive about resetting the bus in case of errors.
*/
void start();
/**
* Stop the automatic measurement state machine.
*/
void stop();
/**
* Set the min and max distance thresholds if you want the end points of the sensors
* range to be brought in at all, otherwise it will use the defaults SF0X_MIN_DISTANCE
* and SF0X_MAX_DISTANCE
*/
void set_minimum_distance(float min);
void set_maximum_distance(float max);
float get_minimum_distance();
float get_maximum_distance();
/**
* Perform a poll cycle; collect from the previous measurement
* and start a new one.
*/
void cycle();
int measure();
int collect();
/**
* Static trampoline from the workq context; because we don't have a
* generic workq wrapper yet.
*
* @param arg Instance pointer for the driver that is polling.
*/
static void cycle_trampoline(void *arg);
};
/*
* Driver 'main' command.
*/
extern "C" __EXPORT int sf0x_main(int argc, char *argv[]);
SF0X::SF0X(const char *port) :
CDev("SF0X", RANGE_FINDER_DEVICE_PATH),
_min_distance(SF02F_MIN_DISTANCE),
_max_distance(SF02F_MAX_DISTANCE),
_reports(nullptr),
_sensor_ok(false),
_measure_ticks(0),
_collect_phase(false),
_fd(-1),
_linebuf_index(0),
_last_read(0),
_range_finder_topic(-1),
_sample_perf(perf_alloc(PC_ELAPSED, "sf0x_read")),
_comms_errors(perf_alloc(PC_COUNT, "sf0x_comms_errors")),
_buffer_overflows(perf_alloc(PC_COUNT, "sf0x_buffer_overflows"))
{
/* open fd */
_fd = ::open(port, O_RDWR | O_NOCTTY | O_NONBLOCK);
if (_fd < 0) {
warnx("FAIL: laser fd");
}
/* tell it to stop auto-triggering */
char stop_auto = ' ';
(void)::write(_fd, &stop_auto, 1);
usleep(100);
(void)::write(_fd, &stop_auto, 1);
struct termios uart_config;
int termios_state;
/* fill the struct for the new configuration */
tcgetattr(_fd, &uart_config);
/* clear ONLCR flag (which appends a CR for every LF) */
uart_config.c_oflag &= ~ONLCR;
/* no parity, one stop bit */
uart_config.c_cflag &= ~(CSTOPB | PARENB);
unsigned speed = B9600;
/* set baud rate */
if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) {
warnx("ERR CFG: %d ISPD", termios_state);
}
if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) {
warnx("ERR CFG: %d OSPD\n", termios_state);
}
if ((termios_state = tcsetattr(_fd, TCSANOW, &uart_config)) < 0) {
warnx("ERR baud %d ATTR", termios_state);
}
// disable debug() calls
_debug_enabled = false;
// work_cancel in the dtor will explode if we don't do this...
memset(&_work, 0, sizeof(_work));
}
SF0X::~SF0X()
{
/* make sure we are truly inactive */
stop();
/* free any existing reports */
if (_reports != nullptr) {
delete _reports;
}
}
int
SF0X::init()
{
int ret = ERROR;
unsigned i = 0;
/* do regular cdev init */
if (CDev::init() != OK) {
goto out;
}
/* allocate basic report buffers */
_reports = new RingBuffer(2, sizeof(range_finder_report));
if (_reports == nullptr) {
warnx("mem err");
goto out;
}
/* get a publish handle on the range finder topic */
struct range_finder_report zero_report;
memset(&zero_report, 0, sizeof(zero_report));
_range_finder_topic = orb_advertise(ORB_ID(sensor_range_finder), &zero_report);
if (_range_finder_topic < 0) {
warnx("advert err");
}
/* attempt to get a measurement 5 times */
while (ret != OK && i < 5) {
if (measure()) {
ret = ERROR;
_sensor_ok = false;
}
usleep(100000);
if (collect()) {
ret = ERROR;
_sensor_ok = false;
} else {
ret = OK;
/* sensor is ok, but we don't really know if it is within range */
_sensor_ok = true;
}
i++;
}
/* close the fd */
::close(_fd);
_fd = -1;
out:
return ret;
}
int
SF0X::probe()
{
return measure();
}
void
SF0X::set_minimum_distance(float min)
{
_min_distance = min;
}
void
SF0X::set_maximum_distance(float max)
{
_max_distance = max;
}
float
SF0X::get_minimum_distance()
{
return _min_distance;
}
float
SF0X::get_maximum_distance()
{
return _max_distance;
}
int
SF0X::ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
case SENSORIOCSPOLLRATE: {
switch (arg) {
/* switching to manual polling */
case SENSOR_POLLRATE_MANUAL:
stop();
_measure_ticks = 0;
return OK;
/* external signalling (DRDY) not supported */
case SENSOR_POLLRATE_EXTERNAL:
/* zero would be bad */
case 0:
return -EINVAL;
/* set default/max polling rate */
case SENSOR_POLLRATE_MAX:
case SENSOR_POLLRATE_DEFAULT: {
/* do we need to start internal polling? */
bool want_start = (_measure_ticks == 0);
/* set interval for next measurement to minimum legal value */
_measure_ticks = USEC2TICK(SF0X_CONVERSION_INTERVAL);
/* if we need to start the poll state machine, do it */
if (want_start) {
start();
}
return OK;
}
/* adjust to a legal polling interval in Hz */
default: {
/* do we need to start internal polling? */
bool want_start = (_measure_ticks == 0);
/* convert hz to tick interval via microseconds */
unsigned ticks = USEC2TICK(1000000 / arg);
/* check against maximum rate */
if (ticks < USEC2TICK(SF0X_CONVERSION_INTERVAL)) {
return -EINVAL;
}
/* update interval for next measurement */
_measure_ticks = ticks;
/* if we need to start the poll state machine, do it */
if (want_start) {
start();
}
return OK;
}
}
}
case SENSORIOCGPOLLRATE:
if (_measure_ticks == 0) {
return SENSOR_POLLRATE_MANUAL;
}
return (1000 / _measure_ticks);
case SENSORIOCSQUEUEDEPTH: {
/* lower bound is mandatory, upper bound is a sanity check */
if ((arg < 1) || (arg > 100)) {
return -EINVAL;
}
irqstate_t flags = irqsave();
if (!_reports->resize(arg)) {
irqrestore(flags);
return -ENOMEM;
}
irqrestore(flags);
return OK;
}
case SENSORIOCGQUEUEDEPTH:
return _reports->size();
case SENSORIOCRESET:
/* XXX implement this */
return -EINVAL;
case RANGEFINDERIOCSETMINIUMDISTANCE: {
set_minimum_distance(*(float *)arg);
return 0;
}
break;
case RANGEFINDERIOCSETMAXIUMDISTANCE: {
set_maximum_distance(*(float *)arg);
return 0;
}
break;
default:
/* give it to the superclass */
return CDev::ioctl(filp, cmd, arg);
}
}
ssize_t
SF0X::read(struct file *filp, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(struct range_finder_report);
struct range_finder_report *rbuf = reinterpret_cast<struct range_finder_report *>(buffer);
int ret = 0;
/* buffer must be large enough */
if (count < 1) {
return -ENOSPC;
}
/* if automatic measurement is enabled */
if (_measure_ticks > 0) {
/*
* While there is space in the caller's buffer, and reports, copy them.
* Note that we may be pre-empted by the workq thread while we are doing this;
* we are careful to avoid racing with them.
*/
while (count--) {
if (_reports->get(rbuf)) {
ret += sizeof(*rbuf);
rbuf++;
}
}
/* if there was no data, warn the caller */
return ret ? ret : -EAGAIN;
}
/* manual measurement - run one conversion */
do {
_reports->flush();
/* trigger a measurement */
if (OK != measure()) {
ret = -EIO;
break;
}
/* wait for it to complete */
usleep(SF0X_CONVERSION_INTERVAL);
/* run the collection phase */
if (OK != collect()) {
ret = -EIO;
break;
}
/* state machine will have generated a report, copy it out */
if (_reports->get(rbuf)) {
ret = sizeof(*rbuf);
}
} while (0);
return ret;
}
int
SF0X::measure()
{
int ret;
/*
* Send the command to begin a measurement.
*/
char cmd = SF0X_TAKE_RANGE_REG;
ret = ::write(_fd, &cmd, 1);
if (ret != sizeof(cmd)) {
perf_count(_comms_errors);
log("write fail %d", ret);
return ret;
}
ret = OK;
return ret;
}
int
SF0X::collect()
{
int ret;
perf_begin(_sample_perf);
/* clear buffer if last read was too long ago */
uint64_t read_elapsed = hrt_elapsed_time(&_last_read);
if (read_elapsed > (SF0X_CONVERSION_INTERVAL * 2)) {
_linebuf_index = 0;
}
/* read from the sensor (uart buffer) */
ret = ::read(_fd, &_linebuf[_linebuf_index], sizeof(_linebuf) - _linebuf_index);
if (ret < 0) {
_linebuf[sizeof(_linebuf) - 1] = '\0';
debug("read err: %d lbi: %d buf: %s", ret, (int)_linebuf_index, _linebuf);
perf_count(_comms_errors);
perf_end(_sample_perf);
/* only throw an error if we time out */
if (read_elapsed > (SF0X_CONVERSION_INTERVAL * 2)) {
return ret;
} else {
return -EAGAIN;
}
}
_linebuf_index += ret;
if (_linebuf_index >= sizeof(_linebuf)) {
_linebuf_index = 0;
}
_last_read = hrt_absolute_time();
if (_linebuf[_linebuf_index - 2] != '\r' || _linebuf[_linebuf_index - 1] != '\n') {
/* incomplete read, reschedule ourselves */
return -EAGAIN;
}
char *end;
float si_units;
bool valid;
/* enforce line ending */
_linebuf[sizeof(_linebuf) - 1] = '\0';
if (_linebuf[0] == '-' && _linebuf[1] == '-' && _linebuf[2] == '.') {
si_units = -1.0f;
valid = false;
} else {
si_units = strtod(_linebuf, &end);
valid = true;
}
debug("val (float): %8.4f, raw: %s\n", si_units, _linebuf);
/* done with this chunk, resetting */
_linebuf_index = 0;
struct range_finder_report report;
/* this should be fairly close to the end of the measurement, so the best approximation of the time */
report.timestamp = hrt_absolute_time();
report.error_count = perf_event_count(_comms_errors);
report.distance = si_units;
report.valid = valid && (si_units > get_minimum_distance() && si_units < get_maximum_distance() ? 1 : 0);
/* publish it */
orb_publish(ORB_ID(sensor_range_finder), _range_finder_topic, &report);
if (_reports->force(&report)) {
perf_count(_buffer_overflows);
}
/* notify anyone waiting for data */
poll_notify(POLLIN);
ret = OK;
perf_end(_sample_perf);
return ret;
}
void
SF0X::start()
{
/* reset the report ring and state machine */
_collect_phase = false;
_reports->flush();
/* schedule a cycle to start things */
work_queue(HPWORK, &_work, (worker_t)&SF0X::cycle_trampoline, this, 1);
// /* notify about state change */
// struct subsystem_info_s info = {
// true,
// true,
// true,
// SUBSYSTEM_TYPE_RANGEFINDER
// };
// static orb_advert_t pub = -1;
// if (pub > 0) {
// orb_publish(ORB_ID(subsystem_info), pub, &info);
// } else {
// pub = orb_advertise(ORB_ID(subsystem_info), &info);
// }
}
void
SF0X::stop()
{
work_cancel(HPWORK, &_work);
}
void
SF0X::cycle_trampoline(void *arg)
{
SF0X *dev = static_cast<SF0X *>(arg);
dev->cycle();
}
void
SF0X::cycle()
{
/* fds initialized? */
if (_fd < 0) {
/* open fd */
_fd = ::open(SF0X_DEFAULT_PORT, O_RDWR | O_NOCTTY | O_NONBLOCK);
}
/* collection phase? */
if (_collect_phase) {
/* perform collection */
int collect_ret = collect();
if (collect_ret == -EAGAIN) {
/* reschedule to grab the missing bits, time to transmit 10 bytes @9600 bps */
work_queue(HPWORK,
&_work,
(worker_t)&SF0X::cycle_trampoline,
this,
USEC2TICK(1100));
return;
}
if (OK != collect_ret) {
log("collection error");
/* restart the measurement state machine */
start();
return;
}
/* next phase is measurement */
_collect_phase = false;
/*
* Is there a collect->measure gap?
*/
if (_measure_ticks > USEC2TICK(SF0X_CONVERSION_INTERVAL)) {
/* schedule a fresh cycle call when we are ready to measure again */
work_queue(HPWORK,
&_work,
(worker_t)&SF0X::cycle_trampoline,
this,
_measure_ticks - USEC2TICK(SF0X_CONVERSION_INTERVAL));
return;
}
}
/* measurement phase */
if (OK != measure()) {
log("measure error");
}
/* next phase is collection */
_collect_phase = true;
/* schedule a fresh cycle call when the measurement is done */
work_queue(HPWORK,
&_work,
(worker_t)&SF0X::cycle_trampoline,
this,
USEC2TICK(SF0X_CONVERSION_INTERVAL));
}
void
SF0X::print_info()
{
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
perf_print_counter(_buffer_overflows);
printf("poll interval: %d ticks\n", _measure_ticks);
_reports->print_info("report queue");
}
/**
* Local functions in support of the shell command.
*/
namespace sf0x
{
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
const int ERROR = -1;
SF0X *g_dev;
void start();
void stop();
void test();
void reset();
void info();
/**
* Start the driver.
*/
void
start(const char *port)
{
int fd;
if (g_dev != nullptr) {
errx(1, "already started");
}
/* create the driver */
g_dev = new SF0X(port);
if (g_dev == nullptr) {
goto fail;
}
if (OK != g_dev->init()) {
goto fail;
}
/* set the poll rate to default, starts automatic data collection */
fd = open(RANGE_FINDER_DEVICE_PATH, 0);
if (fd < 0) {
warnx("device open fail");
goto fail;
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
goto fail;
}
exit(0);
fail:
if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
}
errx(1, "driver start failed");
}
/**
* Stop the driver
*/
void stop()
{
if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
} else {
errx(1, "driver not running");
}
exit(0);
}
/**
* Perform some basic functional tests on the driver;
* make sure we can collect data from the sensor in polled
* and automatic modes.
*/
void
test()
{
struct range_finder_report report;
ssize_t sz;
int fd = open(RANGE_FINDER_DEVICE_PATH, O_RDONLY);
if (fd < 0) {
err(1, "%s open failed (try 'sf0x start' if the driver is not running", RANGE_FINDER_DEVICE_PATH);
}
/* do a simple demand read */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report)) {
err(1, "immediate read failed");
}
warnx("single read");
warnx("measurement: %0.2f m", (double)report.distance);
warnx("time: %lld", report.timestamp);
/* start the sensor polling at 2Hz */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
errx(1, "failed to set 2Hz poll rate");
}
/* read the sensor 5x and report each value */
for (unsigned i = 0; i < 5; i++) {
struct pollfd fds;
/* wait for data to be ready */
fds.fd = fd;
fds.events = POLLIN;
int ret = poll(&fds, 1, 2000);
if (ret != 1) {
errx(1, "timed out waiting for sensor data");
}
/* now go get it */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report)) {
err(1, "periodic read failed");
}
warnx("periodic read %u", i);
warnx("measurement: %0.3f", (double)report.distance);
warnx("time: %lld", report.timestamp);
}
/* reset the sensor polling to default rate */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) {
errx(1, "failed to set default poll rate");
}
errx(0, "PASS");
}
/**
* Reset the driver.
*/
void
reset()
{
int fd = open(RANGE_FINDER_DEVICE_PATH, O_RDONLY);
if (fd < 0) {
err(1, "failed ");
}
if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
err(1, "driver reset failed");
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
err(1, "driver poll restart failed");
}
exit(0);
}
/**
* Print a little info about the driver.
*/
void
info()
{
if (g_dev == nullptr) {
errx(1, "driver not running");
}
printf("state @ %p\n", g_dev);
g_dev->print_info();
exit(0);
}
} // namespace
int
sf0x_main(int argc, char *argv[])
{
/*
* Start/load the driver.
*/
if (!strcmp(argv[1], "start")) {
if (argc > 2) {
sf0x::start(argv[2]);
} else {
sf0x::start(SF0X_DEFAULT_PORT);
}
}
/*
* Stop the driver
*/
if (!strcmp(argv[1], "stop")) {
sf0x::stop();
}
/*
* Test the driver/device.
*/
if (!strcmp(argv[1], "test")) {
sf0x::test();
}
/*
* Reset the driver.
*/
if (!strcmp(argv[1], "reset")) {
sf0x::reset();
}
/*
* Print driver information.
*/
if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) {
sf0x::info();
}
errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
}

105
src/modules/gpio_led/gpio_led.c
View File

@ -51,7 +51,6 @@
#include <systemlib/err.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_armed.h>
#include <poll.h>
#include <drivers/drv_gpio.h>
#include <modules/px4iofirmware/protocol.h>
@ -63,8 +62,6 @@ struct gpio_led_s {
int pin;
struct vehicle_status_s status;
int vehicle_status_sub;
struct actuator_armed_s armed;
int actuator_armed_sub;
bool led_state;
int counter;
};
@ -81,6 +78,7 @@ void gpio_led_cycle(FAR void *arg);
int gpio_led_main(int argc, char *argv[])
{
if (argc < 2) {
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
errx(1, "usage: gpio_led {start|stop} [-p <1|2|a1|a2|r1|r2>]\n"
"\t-p\tUse pin:\n"
"\t\t1\tPX4FMU GPIO_EXT1 (default)\n"
@ -88,7 +86,14 @@ int gpio_led_main(int argc, char *argv[])
"\t\ta1\tPX4IO ACC1\n"
"\t\ta2\tPX4IO ACC2\n"
"\t\tr1\tPX4IO RELAY1\n"
"\t\tr2\tPX4IO RELAY2");
"\t\tr2\tPX4IO RELAY2"
);
#endif
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
errx(1, "usage: gpio_led {start|stop} [-p <n>]\n"
"\t-p <n>\tUse specified AUX OUT pin number (default: 1)"
);
#endif
} else {
@ -98,37 +103,70 @@ int gpio_led_main(int argc, char *argv[])
}
bool use_io = false;
int pin = GPIO_EXT_1;
/* by default use GPIO_EXT_1 on FMUv1 and GPIO_SERVO_1 on FMUv2 */
int pin = 1;
/* pin name to display */
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
char *pin_name = "PX4FMU GPIO_EXT1";
#endif
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
char pin_name[] = "AUX OUT 1";
#endif
if (argc > 2) {
if (!strcmp(argv[2], "-p")) {
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
if (!strcmp(argv[3], "1")) {
use_io = false;
pin = GPIO_EXT_1;
pin_name = "PX4FMU GPIO_EXT1";
} else if (!strcmp(argv[3], "2")) {
use_io = false;
pin = GPIO_EXT_2;
pin_name = "PX4FMU GPIO_EXT2";
} else if (!strcmp(argv[3], "a1")) {
use_io = true;
pin = PX4IO_P_SETUP_RELAYS_ACC1;
pin_name = "PX4IO ACC1";
} else if (!strcmp(argv[3], "a2")) {
use_io = true;
pin = PX4IO_P_SETUP_RELAYS_ACC2;
pin_name = "PX4IO ACC2";
} else if (!strcmp(argv[3], "r1")) {
use_io = true;
pin = PX4IO_P_SETUP_RELAYS_POWER1;
pin_name = "PX4IO RELAY1";
} else if (!strcmp(argv[3], "r2")) {
use_io = true;
pin = PX4IO_P_SETUP_RELAYS_POWER2;
pin_name = "PX4IO RELAY2";
} else {
errx(1, "unsupported pin: %s", argv[3]);
}
#endif
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
unsigned int n = strtoul(argv[3], NULL, 10);
if (n >= 1 && n <= 6) {
use_io = false;
pin = 1 << (n - 1);
snprintf(pin_name, sizeof(pin_name), "AUX OUT %d", n);
} else {
errx(1, "unsupported pin: %s", argv[3]);
}
#endif
}
}
@ -142,21 +180,6 @@ int gpio_led_main(int argc, char *argv[])
} else {
gpio_led_started = true;
char pin_name[24];
if (use_io) {
if (pin & (PX4IO_P_SETUP_RELAYS_ACC1 | PX4IO_P_SETUP_RELAYS_ACC2)) {
sprintf(pin_name, "PX4IO ACC%i", (pin >> 3));
} else {
sprintf(pin_name, "PX4IO RELAY%i", pin);
}
} else {
sprintf(pin_name, "PX4FMU GPIO_EXT%i", pin);
}
warnx("start, using pin: %s", pin_name);
}
@ -186,6 +209,7 @@ void gpio_led_start(FAR void *arg)
if (priv->use_io) {
gpio_dev = PX4IO_DEVICE_PATH;
} else {
gpio_dev = PX4FMU_DEVICE_PATH;
}
@ -204,8 +228,10 @@ void gpio_led_start(FAR void *arg)
/* px4fmu only, px4io doesn't support GPIO_SET_OUTPUT and will ignore */
ioctl(priv->gpio_fd, GPIO_SET_OUTPUT, priv->pin);
/* subscribe to vehicle status topic */
/* initialize vehicle status structure */
memset(&priv->status, 0, sizeof(priv->status));
/* subscribe to vehicle status topic */
priv->vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
/* add worker to queue */
@ -224,38 +250,33 @@ void gpio_led_cycle(FAR void *arg)
FAR struct gpio_led_s *priv = (FAR struct gpio_led_s *)arg;
/* check for status updates*/
bool status_updated;
orb_check(priv->vehicle_status_sub, &status_updated);
bool updated;
orb_check(priv->vehicle_status_sub, &updated);
if (status_updated)
if (updated) {
orb_copy(ORB_ID(vehicle_status), priv->vehicle_status_sub, &priv->status);
orb_check(priv->vehicle_status_sub, &status_updated);
if (status_updated)
orb_copy(ORB_ID(actuator_armed), priv->actuator_armed_sub, &priv->armed);
}
/* select pattern for current status */
int pattern = 0;
if (priv->armed.armed) {
if (priv->status.battery_warning == VEHICLE_BATTERY_WARNING_NONE) {
if (priv->status.arming_state == ARMING_STATE_ARMED_ERROR) {
pattern = 0x2A; // *_*_*_ fast blink (armed, error)
} else if (priv->status.arming_state == ARMING_STATE_ARMED) {
if (priv->status.battery_warning == VEHICLE_BATTERY_WARNING_NONE && priv->status.failsafe_state == FAILSAFE_STATE_NORMAL) {
pattern = 0x3f; // ****** solid (armed)
} else {
pattern = 0x2A; // *_*_*_ fast blink (armed, battery warning)
pattern = 0x3e; // *****_ slow blink (armed, battery low or failsafe)
}
} else {
if (priv->armed.ready_to_arm) {
pattern = 0x00; // ______ off (disarmed, preflight check)
} else if (priv->armed.ready_to_arm && priv->status.battery_warning == VEHICLE_BATTERY_WARNING_NONE) {
} else if (priv->status.arming_state == ARMING_STATE_STANDBY) {
pattern = 0x38; // ***___ slow blink (disarmed, ready)
} else {
pattern = 0x28; // *_*___ slow double blink (disarmed, not good to arm)
}
} else if (priv->status.arming_state == ARMING_STATE_STANDBY_ERROR) {
pattern = 0x28; // *_*___ slow double blink (disarmed, error)
}
/* blink pattern */
@ -266,6 +287,7 @@ void gpio_led_cycle(FAR void *arg)
if (led_state_new) {
ioctl(priv->gpio_fd, GPIO_SET, priv->pin);
} else {
ioctl(priv->gpio_fd, GPIO_CLEAR, priv->pin);
}
@ -273,8 +295,9 @@ void gpio_led_cycle(FAR void *arg)
priv->counter++;
if (priv->counter > 5)
if (priv->counter > 5) {
priv->counter = 0;
}
/* repeat cycle at 5 Hz */
if (gpio_led_started) {

2
src/modules/px4iofirmware/mixer.cpp
View File

@ -267,7 +267,7 @@ mixer_callback(uintptr_t handle,
uint8_t control_index,
float &control)
{
if (control_group > 3)
if (control_group >= PX4IO_CONTROL_GROUPS)
return -1;
switch (source) {

2
src/modules/px4iofirmware/px4io.h
View File

@ -53,7 +53,7 @@
*/
#define PX4IO_SERVO_COUNT 8
#define PX4IO_CONTROL_CHANNELS 8
#define PX4IO_CONTROL_GROUPS 2
#define PX4IO_CONTROL_GROUPS 4
#define PX4IO_RC_INPUT_CHANNELS 18
#define PX4IO_RC_MAPPED_CONTROL_CHANNELS 8 /**< This is the maximum number of channels mapped/used */

3
src/modules/sdlog2/logbuffer.c
View File

@ -74,8 +74,9 @@ bool logbuffer_write(struct logbuffer_s *lb, void *ptr, int size)
// bytes available to write
int available = lb->read_ptr - lb->write_ptr - 1;
if (available < 0)
if (available < 0) {
available += lb->size;
}
if (size > available) {
// buffer overflow

411
src/modules/sdlog2/sdlog2.c
View File

@ -58,6 +58,8 @@
#include <drivers/drv_hrt.h>
#include <math.h>
#include <drivers/drv_range_finder.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/sensor_combined.h>
@ -134,12 +136,6 @@ static uint64_t gps_time = 0;
/* current state of logging */
static bool logging_enabled = false;
/* enable logging on start (-e option) */
static bool log_on_start = false;
/* enable logging when armed (-a option) */
static bool log_when_armed = false;
/* delay = 1 / rate (rate defined by -r option) */
static useconds_t sleep_delay = 0;
/* use date/time for naming directories and files (-t option) */
static bool log_name_timestamp = false;
@ -159,6 +155,8 @@ static void *logwriter_thread(void *arg);
*/
__EXPORT int sdlog2_main(int argc, char *argv[]);
static bool copy_if_updated(orb_id_t topic, int handle, void *buffer);
/**
* Mainloop of sd log deamon.
*/
@ -220,8 +218,9 @@ static int open_log_file(void);
static void
sdlog2_usage(const char *reason)
{
if (reason)
if (reason) {
fprintf(stderr, "%s\n", reason);
}
errx(1, "usage: sdlog2 {start|stop|status} [-r <log rate>] [-b <buffer size>] -e -a -t\n"
"\t-r\tLog rate in Hz, 0 means unlimited rate\n"
@ -241,8 +240,9 @@ sdlog2_usage(const char *reason)
*/
int sdlog2_main(int argc, char *argv[])
{
if (argc < 2)
if (argc < 2) {
sdlog2_usage("missing command");
}
if (!strcmp(argv[1], "start")) {
@ -401,22 +401,29 @@ static void *logwriter_thread(void *arg)
int log_fd = open_log_file();
if (log_fd < 0)
return;
if (log_fd < 0) {
return NULL;
}
struct logbuffer_s *logbuf = (struct logbuffer_s *)arg;
/* write log messages formats, version and parameters */
log_bytes_written += write_formats(log_fd);
log_bytes_written += write_version(log_fd);
log_bytes_written += write_parameters(log_fd);
fsync(log_fd);
int poll_count = 0;
void *read_ptr;
int n = 0;
bool should_wait = false;
bool is_part = false;
while (true) {
@ -449,7 +456,6 @@ static void *logwriter_thread(void *arg)
n = available;
}
lseek(log_fd, 0, SEEK_CUR);
n = write(log_fd, read_ptr, n);
should_wait = (n == available) && !is_part;
@ -483,7 +489,7 @@ static void *logwriter_thread(void *arg)
fsync(log_fd);
close(log_fd);
return;
return NULL;
}
void sdlog2_start_log()
@ -628,6 +634,19 @@ int write_parameters(int fd)
return written;
}
bool copy_if_updated(orb_id_t topic, int handle, void *buffer)
{
bool updated;
orb_check(handle, &updated);
if (updated) {
orb_copy(topic, handle, buffer);
}
return updated;
}
int sdlog2_thread_main(int argc, char *argv[])
{
mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
@ -636,12 +655,14 @@ int sdlog2_thread_main(int argc, char *argv[])
warnx("failed to open MAVLink log stream, start mavlink app first");
}
/* log buffer size */
/* delay = 1 / rate (rate defined by -r option), default log rate: 50 Hz */
useconds_t sleep_delay = 20000;
int log_buffer_size = LOG_BUFFER_SIZE_DEFAULT;
logging_enabled = false;
log_on_start = false;
log_when_armed = false;
/* enable logging on start (-e option) */
bool log_on_start = false;
/* enable logging when armed (-a option) */
bool log_when_armed = false;
log_name_timestamp = false;
flag_system_armed = false;
@ -651,17 +672,20 @@ int sdlog2_thread_main(int argc, char *argv[])
argv += 2;
int ch;
/* don't exit from getopt loop to leave getopt global variables in consistent state,
* set error flag instead */
bool err_flag = false;
while ((ch = getopt(argc, argv, "r:b:eat")) != EOF) {
switch (ch) {
case 'r': {
unsigned long r = strtoul(optarg, NULL, 10);
if (r == 0) {
sleep_delay = 0;
} else {
sleep_delay = 1000000 / r;
if (r <= 0) {
r = 1;
}
sleep_delay = 1000000 / r;
}
break;
@ -698,20 +722,27 @@ int sdlog2_thread_main(int argc, char *argv[])
} else {
warnx("unknown option character `\\x%x'", optopt);
}
err_flag = true;
break;
default:
sdlog2_usage("unrecognized flag");
errx(1, "exiting");
warnx("unrecognized flag");
err_flag = true;
break;
}
}
if (err_flag) {
sdlog2_usage(NULL);
}
gps_time = 0;
/* create log root dir */
int mkdir_ret = mkdir(log_root, S_IRWXU | S_IRWXG | S_IRWXO);
if (mkdir_ret != 0 && errno != EEXIST) {
err("failed creating log root dir: %s", log_root);
err(1, "failed creating log root dir: %s", log_root);
}
/* copy conversion scripts */
@ -734,8 +765,12 @@ int sdlog2_thread_main(int argc, char *argv[])
struct vehicle_status_s buf_status;
struct vehicle_gps_position_s buf_gps_pos;
memset(&buf_status, 0, sizeof(buf_status));
memset(&buf_gps_pos, 0, sizeof(buf_gps_pos));
/* warning! using union here to save memory, elements should be used separately! */
union {
struct vehicle_command_s cmd;
@ -749,7 +784,6 @@ int sdlog2_thread_main(int argc, char *argv[])
struct vehicle_local_position_setpoint_s local_pos_sp;
struct vehicle_global_position_s global_pos;
struct position_setpoint_triplet_s triplet;
struct vehicle_gps_position_s gps_pos;
struct vehicle_vicon_position_s vicon_pos;
struct optical_flow_s flow;
struct rc_channels_s rc;
@ -759,34 +793,11 @@ int sdlog2_thread_main(int argc, char *argv[])
struct vehicle_global_velocity_setpoint_s global_vel_sp;
struct battery_status_s battery;
struct telemetry_status_s telemetry;
struct range_finder_report range_finder;
} buf;
memset(&buf, 0, sizeof(buf));
struct {
int cmd_sub;
int status_sub;
int sensor_sub;
int att_sub;
int att_sp_sub;
int rates_sp_sub;
int act_outputs_sub;
int act_controls_sub;
int local_pos_sub;
int local_pos_sp_sub;
int global_pos_sub;
int triplet_sub;
int gps_pos_sub;
int vicon_pos_sub;
int flow_sub;
int rc_sub;
int airspeed_sub;
int esc_sub;
int global_vel_sp_sub;
int battery_sub;
int telemetry_sub;
} subs;
/* log message buffer: header + body */
#pragma pack(push, 1)
struct {
@ -821,154 +832,53 @@ int sdlog2_thread_main(int argc, char *argv[])
#pragma pack(pop)
memset(&log_msg.body, 0, sizeof(log_msg.body));
/* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */
/* number of messages */
const ssize_t fdsc = 25;
/* Sanity check variable and index */
ssize_t fdsc_count = 0;
/* file descriptors to wait for */
struct pollfd fds[fdsc];
struct {
int cmd_sub;
int status_sub;
int sensor_sub;
int att_sub;
int att_sp_sub;
int rates_sp_sub;
int act_outputs_sub;
int act_controls_sub;
int local_pos_sub;
int local_pos_sp_sub;
int global_pos_sub;
int triplet_sub;
int gps_pos_sub;
int vicon_pos_sub;
int flow_sub;
int rc_sub;
int airspeed_sub;
int esc_sub;
int global_vel_sp_sub;
int battery_sub;
int telemetry_sub;
int range_finder_sub;
} subs;
/* --- VEHICLE COMMAND --- */
subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
fds[fdsc_count].fd = subs.cmd_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- VEHICLE STATUS --- */
subs.status_sub = orb_subscribe(ORB_ID(vehicle_status));
fds[fdsc_count].fd = subs.status_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- GPS POSITION --- */
subs.gps_pos_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
fds[fdsc_count].fd = subs.gps_pos_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- SENSORS COMBINED --- */
subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
fds[fdsc_count].fd = subs.sensor_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- ATTITUDE --- */
subs.att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
fds[fdsc_count].fd = subs.att_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- ATTITUDE SETPOINT --- */
subs.att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
fds[fdsc_count].fd = subs.att_sp_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- RATES SETPOINT --- */
subs.rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint));
fds[fdsc_count].fd = subs.rates_sp_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- ACTUATOR OUTPUTS --- */
subs.act_outputs_sub = orb_subscribe(ORB_ID_VEHICLE_CONTROLS);
fds[fdsc_count].fd = subs.act_outputs_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- ACTUATOR CONTROL --- */
subs.act_controls_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
fds[fdsc_count].fd = subs.act_controls_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- LOCAL POSITION --- */
subs.local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
fds[fdsc_count].fd = subs.local_pos_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- LOCAL POSITION SETPOINT --- */
subs.local_pos_sp_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint));
fds[fdsc_count].fd = subs.local_pos_sp_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- GLOBAL POSITION --- */
subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
fds[fdsc_count].fd = subs.global_pos_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- GLOBAL POSITION SETPOINT--- */
subs.triplet_sub = orb_subscribe(ORB_ID(position_setpoint_triplet));
fds[fdsc_count].fd = subs.triplet_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- VICON POSITION --- */
subs.vicon_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position));
fds[fdsc_count].fd = subs.vicon_pos_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- OPTICAL FLOW --- */
subs.flow_sub = orb_subscribe(ORB_ID(optical_flow));
fds[fdsc_count].fd = subs.flow_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- RC CHANNELS --- */
subs.rc_sub = orb_subscribe(ORB_ID(rc_channels));
fds[fdsc_count].fd = subs.rc_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- AIRSPEED --- */
subs.airspeed_sub = orb_subscribe(ORB_ID(airspeed));
fds[fdsc_count].fd = subs.airspeed_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- ESCs --- */
subs.esc_sub = orb_subscribe(ORB_ID(esc_status));
fds[fdsc_count].fd = subs.esc_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- GLOBAL VELOCITY SETPOINT --- */
subs.global_vel_sp_sub = orb_subscribe(ORB_ID(vehicle_global_velocity_setpoint));
fds[fdsc_count].fd = subs.global_vel_sp_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- BATTERY --- */
subs.battery_sub = orb_subscribe(ORB_ID(battery_status));
fds[fdsc_count].fd = subs.battery_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- TELEMETRY STATUS --- */
subs.telemetry_sub = orb_subscribe(ORB_ID(telemetry_status));
fds[fdsc_count].fd = subs.telemetry_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* WARNING: If you get the error message below,
* then the number of registered messages (fdsc)
* differs from the number of messages in the above list.
*/
if (fdsc_count > fdsc) {
warn("WARNING: Not enough space for poll fds allocated. Check %s:%d", __FILE__, __LINE__);
fdsc_count = fdsc;
}
/*
* set up poll to block for new data,
* wait for a maximum of 1000 ms
*/
const int poll_timeout = 1000;
subs.range_finder_sub = orb_subscribe(ORB_ID(sensor_range_finder));
thread_running = true;
@ -990,8 +900,8 @@ int sdlog2_thread_main(int argc, char *argv[])
if (log_on_start) {
/* check GPS topic to get GPS time */
if (log_name_timestamp) {
if (OK == orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos)) {
gps_time = buf.gps_pos.time_gps_usec;
if (copy_if_updated(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf_gps_pos)) {
gps_time = buf_gps_pos.time_gps_usec;
}
}
@ -999,61 +909,33 @@ int sdlog2_thread_main(int argc, char *argv[])
}
while (!main_thread_should_exit) {
/* decide use usleep() or blocking poll() */
bool use_sleep = sleep_delay > 0 && logging_enabled;
/* poll all topics if logging enabled or only management (first 3) if not */
int poll_ret = poll(fds, logging_enabled ? fdsc_count : 3, use_sleep ? 0 : poll_timeout);
/* handle the poll result */
if (poll_ret < 0) {
warnx("ERROR: poll error, stop logging");
main_thread_should_exit = true;
} else if (poll_ret > 0) {
/* check all data subscriptions only if logging enabled,
* logging_enabled can be changed while checking vehicle_command and vehicle_status */
bool check_data = logging_enabled;
int ifds = 0;
int handled_topics = 0;
usleep(sleep_delay);
/* --- VEHICLE COMMAND - LOG MANAGEMENT --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_command), subs.cmd_sub, &buf.cmd);
if (copy_if_updated(ORB_ID(vehicle_command), subs.cmd_sub, &buf.cmd)) {
handle_command(&buf.cmd);
handled_topics++;
}
/* --- VEHICLE STATUS - LOG MANAGEMENT --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_status), subs.status_sub, &buf_status);
bool status_updated = copy_if_updated(ORB_ID(vehicle_status), subs.status_sub, &buf_status);
if (status_updated) {
if (log_when_armed) {
handle_status(&buf_status);
}
handled_topics++;
}
/* --- GPS POSITION - LOG MANAGEMENT --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos);
bool gps_pos_updated = copy_if_updated(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf_gps_pos);
if (log_name_timestamp) {
gps_time = buf.gps_pos.time_gps_usec;
if (gps_pos_updated && log_name_timestamp) {
gps_time = buf_gps_pos.time_gps_usec;
}
handled_topics++;
}
if (!logging_enabled || !check_data || handled_topics >= poll_ret) {
if (!logging_enabled) {
continue;
}
ifds = 1; // begin from VEHICLE STATUS again
pthread_mutex_lock(&logbuffer_mutex);
/* write time stamp message */
@ -1062,8 +944,7 @@ int sdlog2_thread_main(int argc, char *argv[])
LOGBUFFER_WRITE_AND_COUNT(TIME);
/* --- VEHICLE STATUS --- */
if (fds[ifds++].revents & POLLIN) {
/* don't orb_copy, it's already done few lines above */
if (status_updated) {
log_msg.msg_type = LOG_STAT_MSG;
log_msg.body.log_STAT.main_state = (uint8_t) buf_status.main_state;
log_msg.body.log_STAT.arming_state = (uint8_t) buf_status.arming_state;
@ -1074,26 +955,24 @@ int sdlog2_thread_main(int argc, char *argv[])
}
/* --- GPS POSITION --- */
if (fds[ifds++].revents & POLLIN) {
/* don't orb_copy, it's already done few lines above */
if (gps_pos_updated) {
log_msg.msg_type = LOG_GPS_MSG;
log_msg.body.log_GPS.gps_time = buf.gps_pos.time_gps_usec;
log_msg.body.log_GPS.fix_type = buf.gps_pos.fix_type;
log_msg.body.log_GPS.eph = buf.gps_pos.eph_m;
log_msg.body.log_GPS.epv = buf.gps_pos.epv_m;
log_msg.body.log_GPS.lat = buf.gps_pos.lat;
log_msg.body.log_GPS.lon = buf.gps_pos.lon;
log_msg.body.log_GPS.alt = buf.gps_pos.alt * 0.001f;
log_msg.body.log_GPS.vel_n = buf.gps_pos.vel_n_m_s;
log_msg.body.log_GPS.vel_e = buf.gps_pos.vel_e_m_s;
log_msg.body.log_GPS.vel_d = buf.gps_pos.vel_d_m_s;
log_msg.body.log_GPS.cog = buf.gps_pos.cog_rad;
log_msg.body.log_GPS.gps_time = buf_gps_pos.time_gps_usec;
log_msg.body.log_GPS.fix_type = buf_gps_pos.fix_type;
log_msg.body.log_GPS.eph = buf_gps_pos.eph_m;
log_msg.body.log_GPS.epv = buf_gps_pos.epv_m;
log_msg.body.log_GPS.lat = buf_gps_pos.lat;
log_msg.body.log_GPS.lon = buf_gps_pos.lon;
log_msg.body.log_GPS.alt = buf_gps_pos.alt * 0.001f;
log_msg.body.log_GPS.vel_n = buf_gps_pos.vel_n_m_s;
log_msg.body.log_GPS.vel_e = buf_gps_pos.vel_e_m_s;
log_msg.body.log_GPS.vel_d = buf_gps_pos.vel_d_m_s;
log_msg.body.log_GPS.cog = buf_gps_pos.cog_rad;
LOGBUFFER_WRITE_AND_COUNT(GPS);
}
/* --- SENSOR COMBINED --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.sensor);
if (copy_if_updated(ORB_ID(sensor_combined), subs.sensor_sub, &buf.sensor)) {
bool write_IMU = false;
bool write_SENS = false;
@ -1148,8 +1027,7 @@ int sdlog2_thread_main(int argc, char *argv[])
}
/* --- ATTITUDE --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att);
if (copy_if_updated(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att)) {
log_msg.msg_type = LOG_ATT_MSG;
log_msg.body.log_ATT.roll = buf.att.roll;
log_msg.body.log_ATT.pitch = buf.att.pitch;
@ -1164,8 +1042,7 @@ int sdlog2_thread_main(int argc, char *argv[])
}
/* --- ATTITUDE SETPOINT --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_attitude_setpoint), subs.att_sp_sub, &buf.att_sp);
if (copy_if_updated(ORB_ID(vehicle_attitude_setpoint), subs.att_sp_sub, &buf.att_sp)) {
log_msg.msg_type = LOG_ATSP_MSG;
log_msg.body.log_ATSP.roll_sp = buf.att_sp.roll_body;
log_msg.body.log_ATSP.pitch_sp = buf.att_sp.pitch_body;
@ -1175,8 +1052,7 @@ int sdlog2_thread_main(int argc, char *argv[])
}
/* --- RATES SETPOINT --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_rates_setpoint), subs.rates_sp_sub, &buf.rates_sp);
if (copy_if_updated(ORB_ID(vehicle_rates_setpoint), subs.rates_sp_sub, &buf.rates_sp)) {
log_msg.msg_type = LOG_ARSP_MSG;
log_msg.body.log_ARSP.roll_rate_sp = buf.rates_sp.roll;
log_msg.body.log_ARSP.pitch_rate_sp = buf.rates_sp.pitch;
@ -1185,16 +1061,14 @@ int sdlog2_thread_main(int argc, char *argv[])
}
/* --- ACTUATOR OUTPUTS --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(actuator_outputs_0), subs.act_outputs_sub, &buf.act_outputs);
if (copy_if_updated(ORB_ID(actuator_outputs_0), subs.act_outputs_sub, &buf.act_outputs)) {
log_msg.msg_type = LOG_OUT0_MSG;
memcpy(log_msg.body.log_OUT0.output, buf.act_outputs.output, sizeof(log_msg.body.log_OUT0.output));
LOGBUFFER_WRITE_AND_COUNT(OUT0);
}
/* --- ACTUATOR CONTROL --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.act_controls_sub, &buf.act_controls);
if (copy_if_updated(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.act_controls_sub, &buf.act_controls)) {
log_msg.msg_type = LOG_ATTC_MSG;
log_msg.body.log_ATTC.roll = buf.act_controls.control[0];
log_msg.body.log_ATTC.pitch = buf.act_controls.control[1];
@ -1204,8 +1078,7 @@ int sdlog2_thread_main(int argc, char *argv[])
}
/* --- LOCAL POSITION --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_local_position), subs.local_pos_sub, &buf.local_pos);
if (copy_if_updated(ORB_ID(vehicle_local_position), subs.local_pos_sub, &buf.local_pos)) {
log_msg.msg_type = LOG_LPOS_MSG;
log_msg.body.log_LPOS.x = buf.local_pos.x;
log_msg.body.log_LPOS.y = buf.local_pos.y;
@ -1224,6 +1097,7 @@ int sdlog2_thread_main(int argc, char *argv[])
if (buf.local_pos.dist_bottom_valid) {
dist_bottom_present = true;
}
if (dist_bottom_present) {
log_msg.msg_type = LOG_DIST_MSG;
log_msg.body.log_DIST.bottom = buf.local_pos.dist_bottom;
@ -1234,8 +1108,7 @@ int sdlog2_thread_main(int argc, char *argv[])
}
/* --- LOCAL POSITION SETPOINT --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_local_position_setpoint), subs.local_pos_sp_sub, &buf.local_pos_sp);
if (copy_if_updated(ORB_ID(vehicle_local_position_setpoint), subs.local_pos_sp_sub, &buf.local_pos_sp)) {
log_msg.msg_type = LOG_LPSP_MSG;
log_msg.body.log_LPSP.x = buf.local_pos_sp.x;
log_msg.body.log_LPSP.y = buf.local_pos_sp.y;
@ -1245,8 +1118,7 @@ int sdlog2_thread_main(int argc, char *argv[])
}
/* --- GLOBAL POSITION --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_global_position), subs.global_pos_sub, &buf.global_pos);
if (copy_if_updated(ORB_ID(vehicle_global_position), subs.global_pos_sub, &buf.global_pos)) {
log_msg.msg_type = LOG_GPOS_MSG;
log_msg.body.log_GPOS.lat = buf.global_pos.lat * 1e7;
log_msg.body.log_GPOS.lon = buf.global_pos.lon * 1e7;
@ -1260,8 +1132,7 @@ int sdlog2_thread_main(int argc, char *argv[])
}
/* --- GLOBAL POSITION SETPOINT --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(position_setpoint_triplet), subs.triplet_sub, &buf.triplet);
if (copy_if_updated(ORB_ID(position_setpoint_triplet), subs.triplet_sub, &buf.triplet)) {
log_msg.msg_type = LOG_GPSP_MSG;
log_msg.body.log_GPSP.nav_state = buf.triplet.nav_state;
log_msg.body.log_GPSP.lat = (int32_t)(buf.triplet.current.lat * 1e7d);
@ -1276,14 +1147,12 @@ int sdlog2_thread_main(int argc, char *argv[])
}
/* --- VICON POSITION --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_vicon_position), subs.vicon_pos_sub, &buf.vicon_pos);
if (copy_if_updated(ORB_ID(vehicle_vicon_position), subs.vicon_pos_sub, &buf.vicon_pos)) {
// TODO not implemented yet
}
/* --- FLOW --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(optical_flow), subs.flow_sub, &buf.flow);
if (copy_if_updated(ORB_ID(optical_flow), subs.flow_sub, &buf.flow)) {
log_msg.msg_type = LOG_FLOW_MSG;
log_msg.body.log_FLOW.flow_raw_x = buf.flow.flow_raw_x;
log_msg.body.log_FLOW.flow_raw_y = buf.flow.flow_raw_y;
@ -1296,8 +1165,7 @@ int sdlog2_thread_main(int argc, char *argv[])
}
/* --- RC CHANNELS --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(rc_channels), subs.rc_sub, &buf.rc);
if (copy_if_updated(ORB_ID(rc_channels), subs.rc_sub, &buf.rc)) {
log_msg.msg_type = LOG_RC_MSG;
/* Copy only the first 8 channels of 14 */
memcpy(log_msg.body.log_RC.channel, buf.rc.chan, sizeof(log_msg.body.log_RC.channel));
@ -1306,8 +1174,7 @@ int sdlog2_thread_main(int argc, char *argv[])
}
/* --- AIRSPEED --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(airspeed), subs.airspeed_sub, &buf.airspeed);
if (copy_if_updated(ORB_ID(airspeed), subs.airspeed_sub, &buf.airspeed)) {
log_msg.msg_type = LOG_AIRS_MSG;
log_msg.body.log_AIRS.indicated_airspeed = buf.airspeed.indicated_airspeed_m_s;
log_msg.body.log_AIRS.true_airspeed = buf.airspeed.true_airspeed_m_s;
@ -1315,9 +1182,7 @@ int sdlog2_thread_main(int argc, char *argv[])
}
/* --- ESCs --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(esc_status), subs.esc_sub, &buf.esc);
if (copy_if_updated(ORB_ID(esc_status), subs.esc_sub, &buf.esc)) {
for (uint8_t i = 0; i < buf.esc.esc_count; i++) {
log_msg.msg_type = LOG_ESC_MSG;
log_msg.body.log_ESC.counter = buf.esc.counter;
@ -1337,8 +1202,7 @@ int sdlog2_thread_main(int argc, char *argv[])
}
/* --- GLOBAL VELOCITY SETPOINT --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_global_velocity_setpoint), subs.global_vel_sp_sub, &buf.global_vel_sp);
if (copy_if_updated(ORB_ID(vehicle_global_velocity_setpoint), subs.global_vel_sp_sub, &buf.global_vel_sp)) {
log_msg.msg_type = LOG_GVSP_MSG;
log_msg.body.log_GVSP.vx = buf.global_vel_sp.vx;
log_msg.body.log_GVSP.vy = buf.global_vel_sp.vy;
@ -1347,8 +1211,7 @@ int sdlog2_thread_main(int argc, char *argv[])
}
/* --- BATTERY --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(battery_status), subs.battery_sub, &buf.battery);
if (copy_if_updated(ORB_ID(battery_status), subs.battery_sub, &buf.battery)) {
log_msg.msg_type = LOG_BATT_MSG;
log_msg.body.log_BATT.voltage = buf.battery.voltage_v;
log_msg.body.log_BATT.voltage_filtered = buf.battery.voltage_filtered_v;
@ -1358,8 +1221,7 @@ int sdlog2_thread_main(int argc, char *argv[])
}
/* --- TELEMETRY --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(telemetry_status), subs.telemetry_sub, &buf.telemetry);
if (copy_if_updated(ORB_ID(telemetry_status), subs.telemetry_sub, &buf.telemetry)) {
log_msg.msg_type = LOG_TELE_MSG;
log_msg.body.log_TELE.rssi = buf.telemetry.rssi;
log_msg.body.log_TELE.remote_rssi = buf.telemetry.remote_rssi;
@ -1371,6 +1233,15 @@ int sdlog2_thread_main(int argc, char *argv[])
LOGBUFFER_WRITE_AND_COUNT(TELE);
}
/* --- BOTTOM DISTANCE --- */
if (copy_if_updated(ORB_ID(sensor_range_finder), subs.range_finder_sub, &buf.range_finder)) {
log_msg.msg_type = LOG_DIST_MSG;
log_msg.body.log_DIST.bottom = buf.range_finder.distance;
log_msg.body.log_DIST.bottom_rate = 0.0f;
log_msg.body.log_DIST.flags = (buf.range_finder.valid ? 1 : 0);
LOGBUFFER_WRITE_AND_COUNT(DIST);
}
/* signal the other thread new data, but not yet unlock */
if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) {
/* only request write if several packets can be written at once */
@ -1381,13 +1252,9 @@ int sdlog2_thread_main(int argc, char *argv[])
pthread_mutex_unlock(&logbuffer_mutex);
}
if (use_sleep) {
usleep(sleep_delay);
}
}
if (logging_enabled)
if (logging_enabled) {
sdlog2_stop_log();
}
pthread_mutex_destroy(&logbuffer_mutex);
pthread_cond_destroy(&logbuffer_cond);
@ -1462,8 +1329,6 @@ int file_copy(const char *file_old, const char *file_new)
void handle_command(struct vehicle_command_s *cmd)
{
/* result of the command */
uint8_t result = VEHICLE_CMD_RESULT_UNSUPPORTED;
int param;
/* request to set different system mode */

116
src/systemcmds/dumpfile/dumpfile.c Normal file
View File

@ -0,0 +1,116 @@
/****************************************************************************
*
* Copyright (c) 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file dumpfile.c
*
* Dump file utility. Prints file size and contents in binary mode (don't replace LF with CR LF) to stdout.
*
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#include <nuttx/config.h>
#include <unistd.h>
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <fcntl.h>
#include <termios.h>
#include <systemlib/err.h>
__EXPORT int dumpfile_main(int argc, char *argv[]);
int
dumpfile_main(int argc, char *argv[])
{
if (argc < 2) {
errx(1, "usage: dumpfile <filename>");
}
/* open input file */
FILE *f;
f = fopen(argv[1], "r");
if (f == NULL) {
printf("ERROR\n");
exit(1);
}
/* get file size */
fseek(f, 0L, SEEK_END);
int size = ftell(f);
fseek(f, 0L, SEEK_SET);
printf("OK %d\n", size);
/* configure stdout */
int out = fileno(stdout);
struct termios tc;
struct termios tc_old;
tcgetattr(out, &tc);
/* save old terminal attributes to restore it later on exit */
memcpy(&tc_old, &tc, sizeof(tc));
/* don't add CR on each LF*/
tc.c_oflag &= ~ONLCR;
if (tcsetattr(out, TCSANOW, &tc) < 0) {
warnx("ERROR setting stdout attributes");
exit(1);
}
char buf[512];
int nread;
/* dump file */
while ((nread = fread(buf, 1, sizeof(buf), f)) > 0) {
if (write(out, buf, nread) <= 0) {
warnx("error dumping file");
break;
}
}
fsync(out);
fclose(f);
/* restore old terminal attributes */
if (tcsetattr(out, TCSANOW, &tc_old) < 0) {
warnx("ERROR restoring stdout attributes");
exit(1);
}
return OK;
}

41
src/systemcmds/dumpfile/module.mk Normal file
View File

@ -0,0 +1,41 @@
############################################################################
#
# Copyright (c) 2014 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
#
# Dump file utility
#
MODULE_COMMAND = dumpfile
SRCS = dumpfile.c
MAXOPTIMIZATION = -Os