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px4-firmware
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Major formatting/whitespace cleanup

This commit is contained in:
px4dev 2012-10-23 23:38:45 -07:00
parent 34f99c7dca
commit 2fc1032069
50 changed files with 1112 additions and 810 deletions
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44
apps/drivers/bma180/bma180.cpp
View File

@ -289,6 +289,7 @@ BMA180::init()
_num_reports = 2;
_oldest_report = _next_report = 0;
_reports = new struct accel_report[_num_reports];
if (_reports == nullptr)
goto out;
@ -321,13 +322,16 @@ BMA180::init()
modify_reg(ADDR_CTRL_REG0, REG0_WRITE_ENABLE, 0);
if (set_range(4)) warnx("Failed setting range");
if (set_lowpass(75)) warnx("Failed setting lowpass");
if (read_reg(ADDR_CHIP_ID) == CHIP_ID) {
ret = OK;
} else {
ret = ERROR;
}
out:
return ret;
}
@ -441,6 +445,7 @@ BMA180::ioctl(struct file *filp, int cmd, unsigned long arg)
case SENSORIOCGPOLLRATE:
if (_call_interval == 0)
return SENSOR_POLLRATE_MANUAL;
return 1000000 / _call_interval;
case SENSORIOCSQUEUEDEPTH: {
@ -468,7 +473,7 @@ BMA180::ioctl(struct file *filp, int cmd, unsigned long arg)
}
case SENSORIOCGQUEUEDEPTH:
return _num_reports -1;
return _num_reports - 1;
case SENSORIOCRESET:
/* XXX implement */
@ -488,12 +493,12 @@ BMA180::ioctl(struct file *filp, int cmd, unsigned long arg)
case ACCELIOCSSCALE:
/* copy scale in */
memcpy(&_accel_scale, (struct accel_scale*) arg, sizeof(_accel_scale));
memcpy(&_accel_scale, (struct accel_scale *) arg, sizeof(_accel_scale));
return OK;
case ACCELIOCGSCALE:
/* copy scale out */
memcpy((struct accel_scale*) arg, &_accel_scale, sizeof(_accel_scale));
memcpy((struct accel_scale *) arg, &_accel_scale, sizeof(_accel_scale));
return OK;
case ACCELIOCSRANGE:
@ -549,24 +554,30 @@ BMA180::set_range(unsigned max_g)
if (max_g == 0)
max_g = 16;
if (max_g > 16)
return -ERANGE;
if (max_g <= 2) {
_current_range = 2;
rangebits = OFFSET_LSB1_RANGE_2G;
} else if (max_g <= 3) {
_current_range = 3;
rangebits = OFFSET_LSB1_RANGE_3G;
} else if (max_g <= 4) {
_current_range = 4;
rangebits = OFFSET_LSB1_RANGE_4G;
} else if (max_g <= 8) {
_current_range = 8;
rangebits = OFFSET_LSB1_RANGE_8G;
} else if (max_g <= 16) {
_current_range = 16;
rangebits = OFFSET_LSB1_RANGE_16G;
} else {
return -EINVAL;
}
@ -586,7 +597,7 @@ BMA180::set_range(unsigned max_g)
/* check if wanted value is now in register */
return !((read_reg(ADDR_OFFSET_LSB1) & OFFSET_LSB1_RANGE_MASK) ==
(OFFSET_LSB1_RANGE_MASK & rangebits));
(OFFSET_LSB1_RANGE_MASK & rangebits));
}
int
@ -633,7 +644,7 @@ BMA180::set_lowpass(unsigned frequency)
/* check if wanted value is now in register */
return !((read_reg(ADDR_BW_TCS) & BW_TCS_BW_MASK) ==
(BW_TCS_BW_MASK & bwbits));
(BW_TCS_BW_MASK & bwbits));
}
void
@ -703,9 +714,9 @@ BMA180::measure()
* perform only the axis assignment here.
* Two non-value bits are discarded directly
*/
report->y_raw = (((int16_t)read_reg(ADDR_ACC_X_LSB+1)) << 8) | (read_reg(ADDR_ACC_X_LSB));// XXX PX4DEV raw_report.x;
report->x_raw = (((int16_t)read_reg(ADDR_ACC_X_LSB+3)) << 8) | (read_reg(ADDR_ACC_X_LSB+2));// XXX PX4DEV raw_report.y;
report->z_raw = (((int16_t)read_reg(ADDR_ACC_X_LSB+5)) << 8) | (read_reg(ADDR_ACC_X_LSB+4));// XXX PX4DEV raw_report.z;
report->y_raw = (((int16_t)read_reg(ADDR_ACC_X_LSB + 1)) << 8) | (read_reg(ADDR_ACC_X_LSB)); // XXX PX4DEV raw_report.x;
report->x_raw = (((int16_t)read_reg(ADDR_ACC_X_LSB + 3)) << 8) | (read_reg(ADDR_ACC_X_LSB + 2)); // XXX PX4DEV raw_report.y;
report->z_raw = (((int16_t)read_reg(ADDR_ACC_X_LSB + 5)) << 8) | (read_reg(ADDR_ACC_X_LSB + 4)); // XXX PX4DEV raw_report.z;
/* discard two non-value bits in the 16 bit measurement */
report->x_raw = (report->x_raw >> 2);
@ -781,17 +792,21 @@ start()
/* set the poll rate to default, starts automatic data collection */
fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
if (fd < 0)
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");
}
@ -809,16 +824,18 @@ test()
/* get the driver */
fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
if (fd < 0)
err(1, "%s open failed (try 'bma180 start' if the driver is not running)",
ACCEL_DEVICE_PATH);
err(1, "%s open failed (try 'bma180 start' if the driver is not running)",
ACCEL_DEVICE_PATH);
/* reset to manual polling */
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MANUAL) < 0)
err(1, "reset to manual polling");
/* do a simple demand read */
sz = read(fd, &a_report, sizeof(a_report));
if (sz != sizeof(a_report))
err(1, "immediate acc read failed");
@ -831,7 +848,7 @@ test()
warnx("acc y: \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw);
warnx("acc z: \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw);
warnx("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2,
(double)(a_report.range_m_s2 / 9.81f));
(double)(a_report.range_m_s2 / 9.81f));
/* XXX add poll-rate tests here too */
@ -846,10 +863,13 @@ void
reset()
{
int fd = open(ACCEL_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");

19
apps/drivers/boards/px4fmu/px4fmu_adc.c
View File

@ -99,25 +99,22 @@ int adc_devinit(void)
/* Check if we have already initialized */
if (!initialized)
{
if (!initialized) {
char name[11];
for (i = 0; i < ADC3_NCHANNELS; i++)
{
stm32_configgpio(g_pinlist[i]);
for (i = 0; i < ADC3_NCHANNELS; i++) {
stm32_configgpio(g_pinlist[i]);
}
for (i = 0; i < 1; i++)
{
for (i = 0; i < 1; i++) {
/* Configure the pins as analog inputs for the selected channels */
//stm32_configgpio(g_pinlist[i]);
/* Call stm32_adcinitialize() to get an instance of the ADC interface */
//multiple channels only supported with dma!
adc[i] = stm32_adcinitialize(3, (g_chanlist), 4);
if (adc == NULL)
{
if (adc == NULL) {
adbg("ERROR: Failed to get ADC interface\n");
return -ENODEV;
}
@ -126,8 +123,8 @@ int adc_devinit(void)
/* Register the ADC driver at "/dev/adc0" */
sprintf(name, "/dev/adc%d", i);
ret = adc_register(name, adc[i]);
if (ret < 0)
{
if (ret < 0) {
adbg("adc_register failed for adc %s: %d\n", name, ret);
return ret;
}

47
apps/drivers/boards/px4fmu/px4fmu_can.c
View File

@ -107,36 +107,35 @@
int can_devinit(void)
{
static bool initialized = false;
struct can_dev_s *can;
int ret;
static bool initialized = false;
struct can_dev_s *can;
int ret;
/* Check if we have already initialized */
/* Check if we have already initialized */
if (!initialized)
{
/* Call stm32_caninitialize() to get an instance of the CAN interface */
if (!initialized) {
/* Call stm32_caninitialize() to get an instance of the CAN interface */
can = stm32_caninitialize(CAN_PORT);
if (can == NULL)
{
candbg("ERROR: Failed to get CAN interface\n");
return -ENODEV;
}
can = stm32_caninitialize(CAN_PORT);
/* Register the CAN driver at "/dev/can0" */
if (can == NULL) {
candbg("ERROR: Failed to get CAN interface\n");
return -ENODEV;
}
ret = can_register("/dev/can0", can);
if (ret < 0)
{
candbg("ERROR: can_register failed: %d\n", ret);
return ret;
}
/* Register the CAN driver at "/dev/can0" */
/* Now we are initialized */
ret = can_register("/dev/can0", can);
initialized = true;
}
if (ret < 0) {
candbg("ERROR: can_register failed: %d\n", ret);
return ret;
}
return OK;
/* Now we are initialized */
initialized = true;
}
return OK;
}

256
apps/drivers/boards/px4fmu/px4fmu_init.c
View File

@ -34,7 +34,7 @@
/**
* @file px4fmu_init.c
*
* PX4FMU-specific early startup code. This file implements the
* PX4FMU-specific early startup code. This file implements the
* nsh_archinitialize() function that is called early by nsh during startup.
*
* Code here is run before the rcS script is invoked; it should start required
@ -115,11 +115,11 @@ extern int adc_devinit(void);
__EXPORT void stm32_boardinitialize(void)
{
/* configure SPI interfaces */
stm32_spiinitialize();
/* configure SPI interfaces */
stm32_spiinitialize();
/* configure LEDs */
up_ledinit();
/* configure LEDs */
up_ledinit();
}
/****************************************************************************
@ -139,171 +139,179 @@ static struct i2c_dev_s *i2c3;
#include <math.h>
#ifdef __cplusplus
__EXPORT int matherr(struct __exception *e) {
return 1;
__EXPORT int matherr(struct __exception *e)
{
return 1;
}
#else
__EXPORT int matherr(struct exception *e) {
return 1;
__EXPORT int matherr(struct exception *e)
{
return 1;
}
#endif
__EXPORT int nsh_archinitialize(void)
{
int result;
int result;
/* INIT 1 Lowest level NuttX initialization has been done at this point, LEDs and UARTs are configured */
/* INIT 1 Lowest level NuttX initialization has been done at this point, LEDs and UARTs are configured */
/* INIT 2 Configuring PX4 low-level peripherals, these will be always needed */
/* INIT 2 Configuring PX4 low-level peripherals, these will be always needed */
/* configure the high-resolution time/callout interface */
/* configure the high-resolution time/callout interface */
#ifdef CONFIG_HRT_TIMER
hrt_init();
hrt_init();
#endif
/* configure CPU load estimation */
#ifdef CONFIG_SCHED_INSTRUMENTATION
cpuload_initialize_once();
#endif
/* configure CPU load estimation */
#ifdef CONFIG_SCHED_INSTRUMENTATION
cpuload_initialize_once();
#endif
/* set up the serial DMA polling */
/* set up the serial DMA polling */
#ifdef SERIAL_HAVE_DMA
{
static struct hrt_call serial_dma_call;
struct timespec ts;
{
static struct hrt_call serial_dma_call;
struct timespec ts;
/*
* Poll at 1ms intervals for received bytes that have not triggered
* a DMA event.
*/
ts.tv_sec = 0;
ts.tv_nsec = 1000000;
/*
* Poll at 1ms intervals for received bytes that have not triggered
* a DMA event.
*/
ts.tv_sec = 0;
ts.tv_nsec = 1000000;
hrt_call_every(&serial_dma_call,
ts_to_abstime(&ts),
ts_to_abstime(&ts),
(hrt_callout)stm32_serial_dma_poll,
NULL);
}
hrt_call_every(&serial_dma_call,
ts_to_abstime(&ts),
ts_to_abstime(&ts),
(hrt_callout)stm32_serial_dma_poll,
NULL);
}
#endif
message("\r\n");
message("\r\n");
up_ledoff(LED_BLUE);
up_ledoff(LED_AMBER);
up_ledoff(LED_BLUE);
up_ledoff(LED_AMBER);
up_ledon(LED_BLUE);
up_ledon(LED_BLUE);
/* Configure user-space led driver */
px4fmu_led_init();
/* Configure user-space led driver */
px4fmu_led_init();
/* Configure SPI-based devices */
/* Configure SPI-based devices */
spi1 = up_spiinitialize(1);
if (!spi1)
{
message("[boot] FAILED to initialize SPI port 1\r\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
spi1 = up_spiinitialize(1);
// Default SPI1 to 1MHz and de-assert the known chip selects.
SPI_SETFREQUENCY(spi1, 10000000);
SPI_SETBITS(spi1, 8);
SPI_SETMODE(spi1, SPIDEV_MODE3);
SPI_SELECT(spi1, PX4_SPIDEV_GYRO, false);
SPI_SELECT(spi1, PX4_SPIDEV_ACCEL, false);
SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
up_udelay(20);
if (!spi1) {
message("[boot] FAILED to initialize SPI port 1\r\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
message("[boot] Successfully initialized SPI port 1\r\n");
// Default SPI1 to 1MHz and de-assert the known chip selects.
SPI_SETFREQUENCY(spi1, 10000000);
SPI_SETBITS(spi1, 8);
SPI_SETMODE(spi1, SPIDEV_MODE3);
SPI_SELECT(spi1, PX4_SPIDEV_GYRO, false);
SPI_SELECT(spi1, PX4_SPIDEV_ACCEL, false);
SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
up_udelay(20);
/* initialize I2C2 bus */
message("[boot] Successfully initialized SPI port 1\r\n");
i2c2 = up_i2cinitialize(2);
if (!i2c2) {
message("[boot] FAILED to initialize I2C bus 2\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
/* initialize I2C2 bus */
/* set I2C2 speed */
I2C_SETFREQUENCY(i2c2, 400000);
i2c2 = up_i2cinitialize(2);
if (!i2c2) {
message("[boot] FAILED to initialize I2C bus 2\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
/* set I2C2 speed */
I2C_SETFREQUENCY(i2c2, 400000);
i2c3 = up_i2cinitialize(3);
if (!i2c3) {
message("[boot] FAILED to initialize I2C bus 3\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
i2c3 = up_i2cinitialize(3);
/* set I2C3 speed */
I2C_SETFREQUENCY(i2c3, 400000);
if (!i2c3) {
message("[boot] FAILED to initialize I2C bus 3\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
/* try to attach, don't fail if device is not responding */
(void)eeprom_attach(i2c3, FMU_BASEBOARD_EEPROM_ADDRESS,
FMU_BASEBOARD_EEPROM_TOTAL_SIZE_BYTES,
FMU_BASEBOARD_EEPROM_PAGE_SIZE_BYTES,
FMU_BASEBOARD_EEPROM_PAGE_WRITE_TIME_US, "/dev/baseboard_eeprom", 1);
/* set I2C3 speed */
I2C_SETFREQUENCY(i2c3, 400000);
/* try to attach, don't fail if device is not responding */
(void)eeprom_attach(i2c3, FMU_BASEBOARD_EEPROM_ADDRESS,
FMU_BASEBOARD_EEPROM_TOTAL_SIZE_BYTES,
FMU_BASEBOARD_EEPROM_PAGE_SIZE_BYTES,
FMU_BASEBOARD_EEPROM_PAGE_WRITE_TIME_US, "/dev/baseboard_eeprom", 1);
#if defined(CONFIG_STM32_SPI3)
/* Get the SPI port */
/* Get the SPI port */
message("[boot] Initializing SPI port 3\n");
spi3 = up_spiinitialize(3);
if (!spi3)
{
message("[boot] FAILED to initialize SPI port 3\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
message("[boot] Successfully initialized SPI port 3\n");
message("[boot] Initializing SPI port 3\n");
spi3 = up_spiinitialize(3);
/* Now bind the SPI interface to the MMCSD driver */
result = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi3);
if (result != OK)
{
message("[boot] FAILED to bind SPI port 3 to the MMCSD driver\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
message("[boot] Successfully bound SPI port 3 to the MMCSD driver\n");
if (!spi3) {
message("[boot] FAILED to initialize SPI port 3\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
message("[boot] Successfully initialized SPI port 3\n");
/* Now bind the SPI interface to the MMCSD driver */
result = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi3);
if (result != OK) {
message("[boot] FAILED to bind SPI port 3 to the MMCSD driver\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
message("[boot] Successfully bound SPI port 3 to the MMCSD driver\n");
#endif /* SPI3 */
/* initialize I2C1 bus */
/* initialize I2C1 bus */
i2c1 = up_i2cinitialize(1);
if (!i2c1) {
message("[boot] FAILED to initialize I2C bus 1\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
i2c1 = up_i2cinitialize(1);
/* set I2C1 speed */
I2C_SETFREQUENCY(i2c1, 400000);
if (!i2c1) {
message("[boot] FAILED to initialize I2C bus 1\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
/* INIT 3: MULTIPORT-DEPENDENT INITIALIZATION */
/* set I2C1 speed */
I2C_SETFREQUENCY(i2c1, 400000);
/* Get board information if available */
/* INIT 3: MULTIPORT-DEPENDENT INITIALIZATION */
/* Initialize the user GPIOs */
px4fmu_gpio_init();
/* Get board information if available */
/* Initialize the user GPIOs */
px4fmu_gpio_init();
#ifdef CONFIG_ADC
int adc_state = adc_devinit();
if (adc_state != OK)
{
/* Try again */
adc_state = adc_devinit();
if (adc_state != OK)
{
/* Give up */
message("[boot] FAILED adc_devinit: %d\n", adc_state);
return -ENODEV;
}
}
int adc_state = adc_devinit();
if (adc_state != OK) {
/* Try again */
adc_state = adc_devinit();
if (adc_state != OK) {
/* Give up */
message("[boot] FAILED adc_devinit: %d\n", adc_state);
return -ENODEV;
}
}
#endif
return OK;
return OK;
}

5
apps/drivers/boards/px4fmu/px4fmu_spi.c
View File

@ -95,21 +95,24 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid,
stm32_gpiowrite(GPIO_SPI_CS_MPU, selected);
stm32_gpiowrite(GPIO_SPI_CS_ACCEL, selected);
break;
case PX4_SPIDEV_ACCEL:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI_CS_ACCEL, !selected);
stm32_gpiowrite(GPIO_SPI_CS_MPU, selected);
stm32_gpiowrite(GPIO_SPI_CS_GYRO, selected);
break;
case PX4_SPIDEV_MPU:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI_CS_ACCEL, selected);
stm32_gpiowrite(GPIO_SPI_CS_GYRO, selected);
stm32_gpiowrite(GPIO_SPI_CS_MPU, !selected);
break;
default:
break;
}
}

16
apps/drivers/boards/px4fmu/px4fmu_usb.c
View File

@ -77,16 +77,16 @@
__EXPORT void stm32_usbinitialize(void)
{
/* The OTG FS has an internal soft pull-up */
/* The OTG FS has an internal soft pull-up */
/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
#ifdef CONFIG_STM32_OTGFS
stm32_configgpio(GPIO_OTGFS_VBUS);
/* XXX We only support device mode
stm32_configgpio(GPIO_OTGFS_PWRON);
stm32_configgpio(GPIO_OTGFS_OVER);
*/
stm32_configgpio(GPIO_OTGFS_VBUS);
/* XXX We only support device mode
stm32_configgpio(GPIO_OTGFS_PWRON);
stm32_configgpio(GPIO_OTGFS_OVER);
*/
#endif
}
@ -103,6 +103,6 @@ __EXPORT void stm32_usbinitialize(void)
__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
{
ulldbg("resume: %d\n", resume);
ulldbg("resume: %d\n", resume);
}

18
apps/drivers/device/device.h
View File

@ -54,7 +54,7 @@
/**
* Namespace encapsulating all device framework classes, functions and data.
*/
namespace device __EXPORT
namespace device __EXPORT
{
/**
@ -276,14 +276,14 @@ public:
*/
virtual int poll(struct file *filp, struct pollfd *fds, bool setup);
/**
* Test whether the device is currently open.
*
* This can be used to avoid tearing down a device that is still active.
*
* @return True if the device is currently open.
*/
bool is_open() { return _open_count > 0; }
/**
* Test whether the device is currently open.
*
* This can be used to avoid tearing down a device that is still active.
*
* @return True if the device is currently open.
*/
bool is_open() { return _open_count > 0; }
protected:
/**

6
apps/drivers/device/i2c.cpp
View File

@ -121,7 +121,7 @@ I2C::transfer(uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len
unsigned tries = 0;
do {
// debug("transfer out %p/%u in %p/%u", send, send_len, recv, recv_len);
// debug("transfer out %p/%u in %p/%u", send, send_len, recv, recv_len);
msgs = 0;
@ -144,7 +144,7 @@ I2C::transfer(uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len
if (msgs == 0)
return -EINVAL;
/*
/*
* I2C architecture means there is an unavoidable race here
* if there are any devices on the bus with a different frequency
* preference. Really, this is pointless.
@ -154,7 +154,7 @@ I2C::transfer(uint8_t *send, unsigned send_len, uint8_t *recv, unsigned recv_len
if (ret == OK)
break;
// reset the I2C bus to unwedge on error
up_i2creset(_dev);

2
apps/drivers/device/i2c.h
View File

@ -42,7 +42,7 @@
#include <nuttx/i2c.h>
namespace device __EXPORT
namespace device __EXPORT
{
/**

2
apps/drivers/device/spi.cpp
View File

@ -134,6 +134,7 @@ SPI::transfer(uint8_t *send, uint8_t *recv, unsigned len)
/* do common setup */
if (!up_interrupt_context())
SPI_LOCK(_dev, true);
SPI_SETFREQUENCY(_dev, _frequency);
SPI_SETMODE(_dev, _mode);
SPI_SETBITS(_dev, 8);
@ -144,6 +145,7 @@ SPI::transfer(uint8_t *send, uint8_t *recv, unsigned len)
/* and clean up */
SPI_SELECT(_dev, _device, false);
if (!up_interrupt_context())
SPI_LOCK(_dev, false);

2
apps/drivers/device/spi.h
View File

@ -84,7 +84,7 @@ protected:
* If called from interrupt context, this interface does not lock
* the bus and may interfere with non-interrupt-context callers.
*
* Clients in a mixed interrupt/non-interrupt configuration must
* Clients in a mixed interrupt/non-interrupt configuration must
* ensure appropriate interlocking.
*
* At least one of send or recv must be non-null.

2
apps/drivers/drv_accel.h
View File

@ -83,7 +83,7 @@ ORB_DECLARE(sensor_accel);
/*
* ioctl() definitions
*
* Accelerometer drivers also implement the generic sensor driver
* Accelerometer drivers also implement the generic sensor driver
* interfaces from drv_sensor.h
*/

2
apps/drivers/drv_gyro.h
View File

@ -58,7 +58,7 @@ struct gyro_report {
float temperature; /**< temperature in degrees celcius */
float range_rad_s;
float scaling;
int16_t x_raw;
int16_t y_raw;
int16_t z_raw;

4
apps/drivers/drv_hrt.h
View File

@ -62,7 +62,7 @@ typedef uint64_t hrt_abstime;
* they are serialised with respect to each other, and must not
* block.
*/
typedef void (* hrt_callout)(void *arg);
typedef void (* hrt_callout)(void *arg);
/*
* Callout record.
@ -113,7 +113,7 @@ __EXPORT extern void hrt_call_at(struct hrt_call *entry, hrt_abstime calltime, h
__EXPORT extern void hrt_call_every(struct hrt_call *entry, hrt_abstime delay, hrt_abstime interval, hrt_callout callout, void *arg);
/*
* If this returns true, the entry has been invoked and removed from the callout list,
* If this returns true, the entry has been invoked and removed from the callout list,
* or it has never been entered.
*
* Always returns false for repeating callouts.

2
apps/drivers/drv_mag.h
View File

@ -59,7 +59,7 @@ struct mag_report {
float z;
float range_ga;
float scaling;
int16_t x_raw;
int16_t y_raw;
int16_t z_raw;

2
apps/drivers/drv_pwm_output.h
View File

@ -136,7 +136,7 @@ __EXPORT extern void up_pwm_servo_deinit(void);
*
* When disarmed, servos output no pulse.
*
* @bug This function should, but does not, guarantee that any pulse
* @bug This function should, but does not, guarantee that any pulse
* currently in progress is cleanly completed.
*
* @param armed If true, outputs are armed; if false they

6
apps/drivers/drv_sensor.h
View File

@ -52,7 +52,7 @@
#define _SENSORIOC(_n) (_IOC(_SENSORIOCBASE, _n))
/**
* Set the driver polling rate to (arg) Hz, or one of the SENSOR_POLLRATE
* Set the driver polling rate to (arg) Hz, or one of the SENSOR_POLLRATE
* constants
*/
#define SENSORIOCSPOLLRATE _SENSORIOC(0)
@ -68,8 +68,8 @@
#define SENSOR_POLLRATE_MAX 1000002 /**< poll at device maximum rate */
#define SENSOR_POLLRATE_DEFAULT 1000003 /**< poll at driver normal rate */
/**
* Set the internal queue depth to (arg) entries, must be at least 1
/**
* Set the internal queue depth to (arg) entries, must be at least 1
*
* This sets the upper bound on the number of readings that can be
* read from the driver.

4
apps/drivers/drv_tone_alarm.h
View File

@ -34,8 +34,8 @@
/*
* Driver for the PX4 audio alarm port, /dev/tone_alarm.
*
* The tone_alarm driver supports a set of predefined "alarm"
* patterns and one user-supplied pattern. Patterns are ordered by
* The tone_alarm driver supports a set of predefined "alarm"
* patterns and one user-supplied pattern. Patterns are ordered by
* priority, with a higher-priority pattern interrupting any
* lower-priority pattern that might be playing.
*

59
apps/drivers/hmc5883/hmc5883.cpp
View File

@ -332,13 +332,16 @@ HMC5883::init()
/* allocate basic report buffers */
_num_reports = 2;
_reports = new struct mag_report[_num_reports];
if (_reports == nullptr)
goto out;
_oldest_report = _next_report = 0;
/* get a publish handle on the mag topic */
memset(&_reports[0], 0, sizeof(_reports[0]));
_mag_topic = orb_advertise(ORB_ID(sensor_mag), &_reports[0]);
if (_mag_topic < 0)
debug("failed to create sensor_mag object");
@ -358,30 +361,37 @@ int HMC5883::set_range(unsigned range)
range_bits = 0x00;
_range_scale = 1.0f / 1370.0f;
_range_ga = 0.88f;
} else if (range <= 1) {
range_bits = 0x01;
_range_scale = 1.0f / 1090.0f;
_range_ga = 1.3f;
} else if (range <= 2) {
range_bits = 0x02;
_range_scale = 1.0f / 820.0f;
_range_ga = 1.9f;
} else if (range <= 3) {
range_bits = 0x03;
_range_scale = 1.0f / 660.0f;
_range_ga = 2.5f;
} else if (range <= 4) {
range_bits = 0x04;
_range_scale = 1.0f / 440.0f;
_range_ga = 4.0f;
} else if (range <= 4.7f) {
range_bits = 0x05;
_range_scale = 1.0f / 390.0f;
_range_ga = 4.7f;
} else if (range <= 5.6f) {
range_bits = 0x06;
_range_scale = 1.0f / 330.0f;
_range_ga = 5.6f;
} else {
range_bits = 0x07;
_range_scale = 1.0f / 230.0f;
@ -413,10 +423,12 @@ HMC5883::probe()
uint8_t data[3] = {0, 0, 0};
_retries = 10;
if (read_reg(ADDR_ID_A, data[0]) ||
read_reg(ADDR_ID_B, data[1]) ||
read_reg(ADDR_ID_C, data[2]))
debug("read_reg fail");
_retries = 1;
if ((data[0] != ID_A_WHO_AM_I) ||
@ -552,6 +564,7 @@ HMC5883::ioctl(struct file *filp, int cmd, unsigned long arg)
case SENSORIOCGPOLLRATE:
if (_measure_ticks == 0)
return SENSOR_POLLRATE_MANUAL;
return (1000 / _measure_ticks);
case SENSORIOCSQUEUEDEPTH: {
@ -666,7 +679,7 @@ HMC5883::cycle()
if (_measure_ticks > USEC2TICK(HMC5883_CONVERSION_INTERVAL)) {
/* schedule a fresh cycle call when we are ready to measure again */
work_queue(HPWORK,
work_queue(HPWORK,
&_work,
(worker_t)&HMC5883::cycle_trampoline,
this,
@ -684,7 +697,7 @@ HMC5883::cycle()
_collect_phase = true;
/* schedule a fresh cycle call when the measurement is done */
work_queue(HPWORK,
work_queue(HPWORK,
&_work,
(worker_t)&HMC5883::cycle_trampoline,
this,
@ -850,7 +863,8 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
warnx("starting mag scale calibration");
/* do a simple demand read */
sz = read(filp, (char*)&report, sizeof(report));
sz = read(filp, (char *)&report, sizeof(report));
if (sz != sizeof(report)) {
warn("immediate read failed");
ret = 1;
@ -920,6 +934,7 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
if (sz != sizeof(report)) {
warn("periodic read failed");
goto out;
} else {
avg_excited[0] += report.x;
avg_excited[1] += report.y;
@ -946,7 +961,7 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
scaling[2] = fabsf(1.08f / avg_excited[2]);
warnx("axes scaling: %.6f %.6f %.6f", (double)scaling[0], (double)scaling[1], (double)scaling[2]);
/* set back to normal mode */
/* Set to 1.1 Gauss */
if (OK != ::ioctl(fd, MAGIOCSRANGE, 1)) {
@ -971,12 +986,15 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
ret = OK;
out:
if (ret == OK) {
warnx("mag scale calibration successfully finished.");
} else {
warnx("mag scale calibration failed.");
}
out:
if (ret == OK) {
warnx("mag scale calibration successfully finished.");
} else {
warnx("mag scale calibration failed.");
}
return ret;
}
@ -986,16 +1004,22 @@ int HMC5883::set_excitement(unsigned enable)
/* arm the excitement strap */
uint8_t conf_reg;
ret = read_reg(ADDR_CONF_A, conf_reg);
if (OK != ret)
perf_count(_comms_errors);
if (((int)enable) < 0) {
conf_reg |= 0x01;
} else if (enable > 0) {
conf_reg |= 0x02;
} else {
conf_reg &= ~0x03;
}
ret = write_reg(ADDR_CONF_A, conf_reg);
if (OK != ret)
perf_count(_comms_errors);
@ -1087,17 +1111,22 @@ start()
/* set the poll rate to default, starts automatic data collection */
fd = open(MAG_DEVICE_PATH, O_RDONLY);
if (fd < 0)
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");
}
@ -1114,11 +1143,13 @@ test()
int ret;
int fd = open(MAG_DEVICE_PATH, O_RDONLY);
if (fd < 0)
err(1, "%s open failed (try 'hmc5883 start' if the driver is not running", MAG_DEVICE_PATH);
/* do a simple demand read */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report))
err(1, "immediate read failed");
@ -1167,7 +1198,7 @@ test()
* Basic idea:
*
* output = (ext field +- 1.1 Ga self-test) * scale factor
*
*
* and consequently:
*
* 1.1 Ga = (excited - normal) * scale factor
@ -1207,6 +1238,7 @@ int calibrate()
int ret;
int fd = open(MAG_DEVICE_PATH, O_RDONLY);
if (fd < 0)
err(1, "%s open failed (try 'hmc5883 start' if the driver is not running", MAG_DEVICE_PATH);
@ -1218,6 +1250,7 @@ int calibrate()
if (ret == OK) {
errx(0, "PASS");
} else {
errx(1, "FAIL");
}
@ -1230,10 +1263,13 @@ void
reset()
{
int fd = open(MAG_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");
@ -1290,6 +1326,7 @@ hmc5883_main(int argc, char *argv[])
if (!strcmp(argv[1], "calibrate")) {
if (hmc5883::calibrate() == 0) {
errx(0, "calibration successful");
} else {
errx(1, "calibration failed");
}

30
apps/drivers/l3gd20/l3gd20.cpp
View File

@ -317,6 +317,7 @@ L3GD20::init()
_num_reports = 2;
_oldest_report = _next_report = 0;
_reports = new struct gyro_report[_num_reports];
if (_reports == nullptr)
goto out;
@ -330,7 +331,7 @@ L3GD20::init()
write_reg(ADDR_CTRL_REG3, 0); /* no interrupts - we don't use them */
write_reg(ADDR_CTRL_REG4, REG4_BDU);
write_reg(ADDR_CTRL_REG5, 0);
write_reg(ADDR_CTRL_REG5, REG5_FIFO_ENABLE); /* disable wake-on-interrupt */
write_reg(ADDR_FIFO_CTRL_REG, FIFO_CTRL_STREAM_MODE); /* Enable FIFO, old data is overwritten */
@ -451,6 +452,7 @@ L3GD20::ioctl(struct file *filp, int cmd, unsigned long arg)
case SENSORIOCGPOLLRATE:
if (_call_interval == 0)
return SENSOR_POLLRATE_MANUAL;
return 1000000 / _call_interval;
case SENSORIOCSQUEUEDEPTH: {
@ -478,7 +480,7 @@ L3GD20::ioctl(struct file *filp, int cmd, unsigned long arg)
}
case SENSORIOCGQUEUEDEPTH:
return _num_reports -1;
return _num_reports - 1;
case SENSORIOCRESET:
/* XXX implement */
@ -497,12 +499,12 @@ L3GD20::ioctl(struct file *filp, int cmd, unsigned long arg)
case GYROIOCSSCALE:
/* copy scale in */
memcpy(&_gyro_scale, (struct gyro_scale*) arg, sizeof(_gyro_scale));
memcpy(&_gyro_scale, (struct gyro_scale *) arg, sizeof(_gyro_scale));
return OK;
case GYROIOCGSCALE:
/* copy scale out */
memcpy((struct gyro_scale*) arg, &_gyro_scale, sizeof(_gyro_scale));
memcpy((struct gyro_scale *) arg, &_gyro_scale, sizeof(_gyro_scale));
return OK;
case GYROIOCSRANGE:
@ -562,12 +564,15 @@ L3GD20::set_range(unsigned max_dps)
if (max_dps <= 250) {
_current_range = 250;
bits |= RANGE_250DPS;
} else if (max_dps <= 500) {
_current_range = 500;
bits |= RANGE_500DPS;
} else if (max_dps <= 2000) {
_current_range = 2000;
bits |= RANGE_2000DPS;
} else {
return -EINVAL;
}
@ -590,15 +595,19 @@ L3GD20::set_samplerate(unsigned frequency)
if (frequency <= 95) {
_current_rate = 95;
bits |= RATE_95HZ_LP_25HZ;
} else if (frequency <= 190) {
_current_rate = 190;
bits |= RATE_190HZ_LP_25HZ;
} else if (frequency <= 380) {
_current_rate = 380;
bits |= RATE_380HZ_LP_30HZ;
} else if (frequency <= 760) {
_current_rate = 760;
bits |= RATE_760HZ_LP_30HZ;
} else {
return -EINVAL;
}
@ -746,17 +755,21 @@ start()
/* set the poll rate to default, starts automatic data collection */
fd = open(GYRO_DEVICE_PATH, O_RDONLY);
if (fd < 0)
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");
}
@ -774,15 +787,17 @@ test()
/* get the driver */
fd_gyro = open(GYRO_DEVICE_PATH, O_RDONLY);
if (fd_gyro < 0)
err(1, "%s open failed", GYRO_DEVICE_PATH);
/* reset to manual polling */
if (ioctl(fd_gyro, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MANUAL) < 0)
err(1, "reset to manual polling");
/* do a simple demand read */
sz = read(fd_gyro, &g_report, sizeof(g_report));
if (sz != sizeof(g_report))
err(1, "immediate gyro read failed");
@ -793,7 +808,7 @@ test()
warnx("gyro y: \t%d\traw", (int)g_report.y_raw);
warnx("gyro z: \t%d\traw", (int)g_report.z_raw);
warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
(int)((g_report.range_rad_s / M_PI_F) * 180.0f+0.5f));
(int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
/* XXX add poll-rate tests here too */
@ -808,10 +823,13 @@ void
reset()
{
int fd = open(GYRO_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");

30
apps/drivers/mpu6000/mpu6000.cpp
View File

@ -569,6 +569,7 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
case SENSORIOCGPOLLRATE:
if (_call_interval == 0)
return SENSOR_POLLRATE_MANUAL;
return 1000000 / _call_interval;
case SENSORIOCSQUEUEDEPTH:
@ -592,12 +593,12 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
case ACCELIOCSSCALE:
/* copy scale in */
memcpy(&_accel_scale, (struct accel_scale*) arg, sizeof(_accel_scale));
memcpy(&_accel_scale, (struct accel_scale *) arg, sizeof(_accel_scale));
return OK;
case ACCELIOCGSCALE:
/* copy scale out */
memcpy((struct accel_scale*) arg, &_accel_scale, sizeof(_accel_scale));
memcpy((struct accel_scale *) arg, &_accel_scale, sizeof(_accel_scale));
return OK;
case ACCELIOCSRANGE:
@ -639,12 +640,12 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
case GYROIOCSSCALE:
/* copy scale in */
memcpy(&_gyro_scale, (struct gyro_scale*) arg, sizeof(_gyro_scale));
memcpy(&_gyro_scale, (struct gyro_scale *) arg, sizeof(_gyro_scale));
return OK;
case GYROIOCGSCALE:
/* copy scale out */
memcpy((struct gyro_scale*) arg, &_gyro_scale, sizeof(_gyro_scale));
memcpy((struct gyro_scale *) arg, &_gyro_scale, sizeof(_gyro_scale));
return OK;
case GYROIOCSRANGE:
@ -976,17 +977,21 @@ start()
/* set the poll rate to default, starts automatic data collection */
fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
if (fd < 0)
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");
}
@ -1006,21 +1011,24 @@ test()
/* get the driver */
fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
if (fd < 0)
err(1, "%s open failed (try 'mpu6000 start' if the driver is not running)",
ACCEL_DEVICE_PATH);
err(1, "%s open failed (try 'mpu6000 start' if the driver is not running)",
ACCEL_DEVICE_PATH);
/* get the driver */
fd_gyro = open(GYRO_DEVICE_PATH, O_RDONLY);
if (fd_gyro < 0)
err(1, "%s open failed", GYRO_DEVICE_PATH);
/* reset to manual polling */
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MANUAL) < 0)
err(1, "reset to manual polling");
/* do a simple demand read */
sz = read(fd, &a_report, sizeof(a_report));
if (sz != sizeof(a_report))
err(1, "immediate acc read failed");
@ -1033,10 +1041,11 @@ test()
warnx("acc y: \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw);
warnx("acc z: \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw);
warnx("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2,
(double)(a_report.range_m_s2 / 9.81f));
(double)(a_report.range_m_s2 / 9.81f));
/* do a simple demand read */
sz = read(fd_gyro, &g_report, sizeof(g_report));
if (sz != sizeof(g_report))
err(1, "immediate gyro read failed");
@ -1047,7 +1056,7 @@ test()
warnx("gyro y: \t%d\traw", (int)g_report.y_raw);
warnx("gyro z: \t%d\traw", (int)g_report.z_raw);
warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
(int)((g_report.range_rad_s / M_PI_F) * 180.0f+0.5f));
(int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
warnx("temp: \t%8.4f\tdeg celsius", (double)a_report.temperature);
warnx("temp: \t%d\traw 0x%0x", (short)a_report.temperature_raw, (unsigned short)a_report.temperature_raw);
@ -1066,10 +1075,13 @@ void
reset()
{
int fd = open(ACCEL_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");

36
apps/drivers/ms5611/ms5611.cpp
View File

@ -303,6 +303,7 @@ MS5611::init()
/* allocate basic report buffers */
_num_reports = 2;
_reports = new struct baro_report[_num_reports];
if (_reports == nullptr)
goto out;
@ -311,6 +312,7 @@ MS5611::init()
/* get a publish handle on the baro topic */
memset(&_reports[0], 0, sizeof(_reports[0]));
_baro_topic = orb_advertise(ORB_ID(sensor_baro), &_reports[0]);
if (_baro_topic < 0)
debug("failed to create sensor_baro object");
@ -323,9 +325,10 @@ int
MS5611::probe()
{
_retries = 10;
if((OK == probe_address(MS5611_ADDRESS_1)) ||
(OK == probe_address(MS5611_ADDRESS_2))) {
_retries = 1;
if ((OK == probe_address(MS5611_ADDRESS_1)) ||
(OK == probe_address(MS5611_ADDRESS_2))) {
_retries = 1;
return OK;
}
@ -484,6 +487,7 @@ MS5611::ioctl(struct file *filp, int cmd, unsigned long arg)
case SENSORIOCGPOLLRATE:
if (_measure_ticks == 0)
return SENSOR_POLLRATE_MANUAL;
return (1000 / _measure_ticks);
case SENSORIOCSQUEUEDEPTH: {
@ -518,9 +522,11 @@ MS5611::ioctl(struct file *filp, int cmd, unsigned long arg)
return -EINVAL;
case BAROIOCSMSLPRESSURE:
/* range-check for sanity */
if ((arg < 80000) || (arg > 120000))
return -EINVAL;
_msl_pressure = arg;
return OK;
@ -688,7 +694,7 @@ MS5611::collect()
int64_t SENS2 = 5 * f >> 2;
if (_TEMP < -1500) {
int64_t f2 = POW2(_TEMP + 1500);
int64_t f2 = POW2(_TEMP + 1500);
OFF2 += 7 * f2;
SENS2 += 11 * f2 >> 1;
}
@ -697,6 +703,7 @@ MS5611::collect()
_OFF -= OFF2;
_SENS -= SENS2;
}
} else {
/* pressure calculation, result in Pa */
@ -814,8 +821,8 @@ MS5611::read_prom()
uint16_t w;
} cvt;
/*
* Wait for PROM contents to be in the device (2.8 ms) in the case we are
/*
* Wait for PROM contents to be in the device (2.8 ms) in the case we are
* called immediately after reset.
*/
usleep(3000);
@ -941,17 +948,22 @@ start()
/* set the poll rate to default, starts automatic data collection */
fd = open(BARO_DEVICE_PATH, O_RDONLY);
if (fd < 0)
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");
}
@ -968,11 +980,13 @@ test()
int ret;
int fd = open(BARO_DEVICE_PATH, O_RDONLY);
if (fd < 0)
err(1, "%s open failed (try 'ms5611 start' if the driver is not running)", BARO_DEVICE_PATH);
/* do a simple demand read */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report))
err(1, "immediate read failed");
@ -1025,10 +1039,13 @@ void
reset()
{
int fd = open(BARO_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");
@ -1061,6 +1078,7 @@ calibrate(unsigned altitude)
float p1;
int fd = open(BARO_DEVICE_PATH, O_RDONLY);
if (fd < 0)
err(1, "%s open failed (try 'ms5611 start' if the driver is not running)", BARO_DEVICE_PATH);
@ -1070,6 +1088,7 @@ calibrate(unsigned altitude)
/* average a few measurements */
pressure = 0.0f;
for (unsigned i = 0; i < 20; i++) {
struct pollfd fds;
int ret;
@ -1091,6 +1110,7 @@ calibrate(unsigned altitude)
pressure += report.pressure;
}
pressure /= 20; /* average */
pressure /= 10; /* scale from millibar to kPa */
@ -1108,8 +1128,10 @@ calibrate(unsigned altitude)
/* save as integer Pa */
p1 *= 1000.0f;
if (ioctl(fd, BAROIOCSMSLPRESSURE, (unsigned long)p1) != OK)
err(1, "BAROIOCSMSLPRESSURE");
exit(0);
}
@ -1150,7 +1172,7 @@ ms5611_main(int argc, char *argv[])
errx(1, "missing altitude");
long altitude = strtol(argv[2], nullptr, 10);
ms5611::calibrate(altitude);
}

36
apps/drivers/px4io/px4io.cpp
View File

@ -110,7 +110,7 @@ private:
bool _primary_pwm_device; ///< true if we are the default PWM output
volatile bool _switch_armed; ///< PX4IO switch armed state
// XXX how should this work?
// XXX how should this work?
bool _send_needed; ///< If true, we need to send a packet to IO
@ -149,13 +149,13 @@ private:
* group/index during mixing.
*/
static int control_callback(uintptr_t handle,
uint8_t control_group,
uint8_t control_index,
float &input);
uint8_t control_group,
uint8_t control_index,
float &input);
};
namespace
namespace
{
PX4IO *g_dev;
@ -190,6 +190,7 @@ PX4IO::~PX4IO()
/* spin waiting for the thread to stop */
unsigned i = 10;
do {
/* wait 50ms - it should wake every 100ms or so worst-case */
usleep(50000);
@ -223,11 +224,13 @@ PX4IO::init()
/* do regular cdev init */
ret = CDev::init();
if (ret != OK)
return ret;
/* try to claim the generic PWM output device node as well - it's OK if we fail at this */
ret = register_driver(PWM_OUTPUT_DEVICE_PATH, &fops, 0666, (void *)this);
if (ret == OK) {
log("default PWM output device");
_primary_pwm_device = true;
@ -235,6 +238,7 @@ PX4IO::init()
/* start the IO interface task */
_task = task_create("px4io", SCHED_PRIORITY_DEFAULT, 4096, (main_t)&PX4IO::task_main_trampoline, nullptr);
if (_task < 0) {
debug("task start failed: %d", errno);
return -errno;
@ -256,6 +260,7 @@ PX4IO::task_main()
/* open the serial port */
_serial_fd = ::open("/dev/ttyS2", O_RDWR);
if (_serial_fd < 0) {
debug("failed to open serial port for IO: %d", errno);
_task = -1;
@ -343,6 +348,7 @@ PX4IO::task_main()
_send_needed = true;
}
}
if (fds[2].revents & POLLIN) {
orb_copy(ORB_ID(actuator_armed), _t_armed, &_controls);
@ -364,9 +370,9 @@ PX4IO::task_main()
int
PX4IO::control_callback(uintptr_t handle,
uint8_t control_group,
uint8_t control_index,
float &input)
uint8_t control_group,
uint8_t control_index,
float &input)
{
const actuator_controls_s *controls = (actuator_controls_s *)handle;
@ -458,13 +464,16 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
break;
case PWM_SERVO_SET(0) ... PWM_SERVO_SET(_max_actuators - 1):
/* fake an update to the selected servo channel */
if ((arg >= 900) && (arg <= 2100)) {
_outputs.output[cmd - PWM_SERVO_SET(0)] = arg;
_send_needed = true;
} else {
ret = -EINVAL;
}
break;
case PWM_SERVO_GET(0) ... PWM_SERVO_GET(_max_actuators - 1):
@ -481,6 +490,7 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
delete _mixers;
_mixers = nullptr;
}
break;
case MIXERIOCADDSIMPLE: {
@ -519,6 +529,7 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
/* allocate a new mixer group and load it from the file */
newmixers = new MixerGroup(control_callback, (uintptr_t)&_controls);
if (newmixers->load_from_file(path) != 0) {
delete newmixers;
ret = -EINVAL;
@ -528,6 +539,7 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
if (_mixers != nullptr) {
delete _mixers;
}
_mixers = newmixers;
}
@ -537,6 +549,7 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
/* not a recognised value */
ret = -ENOTTY;
}
unlock();
return ret;
@ -576,6 +589,7 @@ px4io_main(int argc, char *argv[])
if (argc > 2) {
fn[0] = argv[2];
fn[1] = nullptr;
} else {
fn[0] = "/fs/microsd/px4io.bin";
fn[1] = "/etc/px4io.bin";
@ -589,18 +603,24 @@ px4io_main(int argc, char *argv[])
switch (ret) {
case OK:
break;
case -ENOENT:
errx(1, "PX4IO firmware file not found");
case -EEXIST:
case -EIO:
errx(1, "error updating PX4IO - check that bootloader mode is enabled");
case -EINVAL:
errx(1, "verify failed - retry the update");
case -ETIMEDOUT:
errx(1, "timed out waiting for bootloader - power-cycle and try again");
default:
errx(1, "unexpected error %d", ret);
}
return ret;
}

47
apps/drivers/px4io/uploader.cpp
View File

@ -67,6 +67,7 @@ PX4IO_Uploader::upload(const char *filenames[])
int ret;
_io_fd = open("/dev/ttyS2", O_RDWR);
if (_io_fd < 0) {
log("could not open interface");
return -errno;
@ -74,6 +75,7 @@ PX4IO_Uploader::upload(const char *filenames[])
/* look for the bootloader */
ret = sync();
if (ret != OK) {
/* this is immediately fatal */
log("bootloader not responding");
@ -87,17 +89,20 @@ PX4IO_Uploader::upload(const char *filenames[])
log("failed to open %s", filenames[i]);
continue;
}
log("using firmware from %s", filenames[i]);
break;
}
if (_fw_fd == -1)
return -ENOENT;
/* do the usual program thing - allow for failure */
for (unsigned retries = 0; retries < 1; retries++) {
if (retries > 0) {
log("retrying update...");
log("retrying update...");
ret = sync();
if (ret != OK) {
/* this is immediately fatal */
log("bootloader not responding");
@ -106,25 +111,33 @@ PX4IO_Uploader::upload(const char *filenames[])
}
ret = erase();
if (ret != OK) {
log("erase failed");
continue;
}
ret = program();
if (ret != OK) {
log("program failed");
continue;
}
ret = verify();
if (ret != OK) {
log("verify failed");
continue;
}
ret = reboot();
if (ret != OK) {
log("reboot failed");
return ret;
}
log("update complete");
ret = OK;
@ -145,6 +158,7 @@ PX4IO_Uploader::recv(uint8_t &c, unsigned timeout)
/* wait 100 ms for a character */
int ret = ::poll(&fds[0], 1, timeout);
if (ret < 1) {
//log("poll timeout %d", ret);
return -ETIMEDOUT;
@ -160,9 +174,11 @@ PX4IO_Uploader::recv(uint8_t *p, unsigned count)
{
while (count--) {
int ret = recv(*p++);
if (ret != OK)
return ret;
}
return OK;
}
@ -175,7 +191,7 @@ PX4IO_Uploader::drain()
do {
ret = recv(c, 10);
//log("discard 0x%02x", c);
} while(ret == OK);
} while (ret == OK);
}
int
@ -184,6 +200,7 @@ PX4IO_Uploader::send(uint8_t c)
//log("send 0x%02x", c);
if (write(_io_fd, &c, 1) != 1)
return -errno;
return OK;
}
@ -192,9 +209,11 @@ PX4IO_Uploader::send(uint8_t *p, unsigned count)
{
while (count--) {
int ret = send(*p++);
if (ret != OK)
return ret;
}
return OK;
}
@ -205,15 +224,20 @@ PX4IO_Uploader::get_sync(unsigned timeout)
int ret;
ret = recv(c[0], timeout);
if (ret != OK)
return ret;
ret = recv(c[1], timeout);
if (ret != OK)
return ret;
if ((c[0] != PROTO_INSYNC) || (c[1] != PROTO_OK)) {
log("bad sync 0x%02x,0x%02x", c[0], c[1]);
return -EIO;
}
return OK;
}
@ -221,9 +245,11 @@ int
PX4IO_Uploader::sync()
{
drain();
/* complete any pending program operation */
for (unsigned i = 0; i < (PROG_MULTI_MAX + 6); i++)
send(0);
send(PROTO_GET_SYNC);
send(PROTO_EOC);
return get_sync();
@ -239,8 +265,10 @@ PX4IO_Uploader::get_info(int param, uint32_t &val)
send(PROTO_EOC);
ret = recv((uint8_t *)&val, sizeof(val));
if (ret != OK)
return ret;
return get_sync();
}
@ -267,10 +295,13 @@ PX4IO_Uploader::program()
/* get more bytes to program */
//log(" %d", (int)lseek(_fw_fd, 0, SEEK_CUR));
count = read(_fw_fd, file_buf, sizeof(file_buf));
if (count == 0)
return OK;
if (count < 0)
return -errno;
ASSERT((count % 4) == 0);
send(PROTO_PROG_MULTI);
@ -279,6 +310,7 @@ PX4IO_Uploader::program()
send(PROTO_EOC);
ret = get_sync(1000);
if (ret != OK)
return ret;
}
@ -297,6 +329,7 @@ PX4IO_Uploader::verify()
send(PROTO_CHIP_VERIFY);
send(PROTO_EOC);
ret = get_sync();
if (ret != OK)
return ret;
@ -304,19 +337,24 @@ PX4IO_Uploader::verify()
/* get more bytes to verify */
int base = (int)lseek(_fw_fd, 0, SEEK_CUR);
count = read(_fw_fd, file_buf, sizeof(file_buf));
if (count == 0)
break;
if (count < 0)
return -errno;
ASSERT((count % 4) == 0);
send(PROTO_READ_MULTI);
send(count);
send(PROTO_EOC);
for (ssize_t i = 0; i < count; i++) {
uint8_t c;
ret = recv(c);
if (ret != OK) {
log("%d: got %d waiting for bytes", base + i, ret);
return ret;
@ -327,12 +365,15 @@ PX4IO_Uploader::verify()
return -EINVAL;
}
}
ret = get_sync();
if (ret != OK) {
log("timeout waiting for post-verify sync");
return ret;
}
}
return OK;
}
@ -358,6 +399,7 @@ PX4IO_Uploader::compare(bool &identical)
send(PROTO_CHIP_VERIFY);
send(PROTO_EOC);
ret = get_sync();
if (ret != OK)
return ret;
@ -365,6 +407,7 @@ PX4IO_Uploader::compare(bool &identical)
send(sizeof(fw_vectors));
send(PROTO_EOC);
ret = recv((uint8_t *)&fw_vectors[0], sizeof(fw_vectors));
if (ret != OK)
return ret;

89
apps/drivers/stm32/drv_hrt.c
View File

@ -30,7 +30,7 @@
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file drv_hrt.c
*
@ -41,7 +41,7 @@
* Note that really, this could use systick too, but that's
* monopolised by NuttX and stealing it would just be awkward.
*
* We don't use the NuttX STM32 driver per se; rather, we
* We don't use the NuttX STM32 driver per se; rather, we
* claim the timer and then drive it directly.
*/
@ -264,10 +264,10 @@ static void hrt_latency_update(void);
/* callout list manipulation */
static void hrt_call_internal(struct hrt_call *entry,
hrt_abstime deadline,
hrt_abstime interval,
hrt_callout callout,
void *arg);
hrt_abstime deadline,
hrt_abstime interval,
hrt_callout callout,
void *arg);
static void hrt_call_enter(struct hrt_call *entry);
static void hrt_call_reschedule(void);
static void hrt_call_invoke(void);
@ -372,39 +372,39 @@ static void
hrt_tim_init(void)
{
/* clock/power on our timer */
modifyreg32(HRT_TIMER_POWER_REG, 0, HRT_TIMER_POWER_BIT);
modifyreg32(HRT_TIMER_POWER_REG, 0, HRT_TIMER_POWER_BIT);
/* claim our interrupt vector */
irq_attach(HRT_TIMER_VECTOR, hrt_tim_isr);
/* claim our interrupt vector */
irq_attach(HRT_TIMER_VECTOR, hrt_tim_isr);
/* disable and configure the timer */
rCR1 = 0;
rCR2 = 0;
rSMCR = 0;
rDIER = DIER_HRT | DIER_PPM;
rCCER = 0; /* unlock CCMR* registers */
rCCMR1 = CCMR1_PPM;
rCCMR2 = CCMR2_PPM;
rCCER = CCER_PPM;
rDCR = 0;
/* disable and configure the timer */
rCR1 = 0;
rCR2 = 0;
rSMCR = 0;
rDIER = DIER_HRT | DIER_PPM;
rCCER = 0; /* unlock CCMR* registers */
rCCMR1 = CCMR1_PPM;
rCCMR2 = CCMR2_PPM;
rCCER = CCER_PPM;
rDCR = 0;
/* configure the timer to free-run at 1MHz */
rPSC = (HRT_TIMER_CLOCK / 1000000) - 1; /* this really only works for whole-MHz clocks */
/* configure the timer to free-run at 1MHz */
rPSC = (HRT_TIMER_CLOCK / 1000000) - 1; /* this really only works for whole-MHz clocks */
/* run the full span of the counter */
rARR = 0xffff;
/* run the full span of the counter */
rARR = 0xffff;
/* set an initial capture a little ways off */
rCCR_HRT = 1000;
/* set an initial capture a little ways off */
rCCR_HRT = 1000;
/* generate an update event; reloads the counter, all registers */
rEGR = GTIM_EGR_UG;
/* generate an update event; reloads the counter, all registers */
rEGR = GTIM_EGR_UG;
/* enable the timer */
rCR1 = GTIM_CR1_CEN;
/* enable the timer */
rCR1 = GTIM_CR1_CEN;
/* enable interrupts */
up_enable_irq(HRT_TIMER_VECTOR);
/* enable interrupts */
up_enable_irq(HRT_TIMER_VECTOR);
}
#ifdef CONFIG_HRT_PPM
@ -412,7 +412,7 @@ hrt_tim_init(void)
* Handle the PPM decoder state machine.
*/
static void
hrt_ppm_decode(uint32_t status)
hrt_ppm_decode(uint32_t status)
{
uint16_t count = rCCR_PPM;
uint16_t width;
@ -428,10 +428,11 @@ hrt_ppm_decode(uint32_t status)
ppm.last_edge = count;
ppm_edge_history[ppm_edge_next++] = width;
if (ppm_edge_next >= 32)
ppm_edge_next = 0;
/*
/*
* if this looks like a start pulse, then push the last set of values
* and reset the state machine
*/
@ -441,6 +442,7 @@ hrt_ppm_decode(uint32_t status)
if (ppm.next_channel > 4) {
for (i = 0; i < ppm.next_channel && i < PPM_MAX_CHANNELS; i++)
ppm_buffer[i] = ppm_temp_buffer[i];
ppm_decoded_channels = i;
ppm_last_valid_decode = hrt_absolute_time();
@ -461,10 +463,11 @@ hrt_ppm_decode(uint32_t status)
return;
case ARM:
/* we expect a pulse giving us the first mark */
if (width > PPM_MAX_PULSE_WIDTH)
goto error; /* pulse was too long */
/* record the mark timing, expect an inactive edge */
ppm.last_mark = count;
ppm.phase = INACTIVE;
@ -481,6 +484,7 @@ hrt_ppm_decode(uint32_t status)
ppm.last_mark = count;
ppm_pulse_history[ppm_pulse_next++] = interval;
if (ppm_pulse_next >= 32)
ppm_pulse_next = 0;
@ -493,7 +497,7 @@ hrt_ppm_decode(uint32_t status)
ppm_temp_buffer[ppm.next_channel++] = interval;
ppm.phase = INACTIVE;
return;
return;
}
@ -526,9 +530,11 @@ hrt_tim_isr(int irq, void *context)
rSR = ~status;
#ifdef CONFIG_HRT_PPM
/* was this a PPM edge? */
if (status & (SR_INT_PPM | SR_OVF_PPM))
hrt_ppm_decode(status);
#endif
/* was this a timer tick? */
@ -640,7 +646,7 @@ hrt_init(void)
void
hrt_call_after(struct hrt_call *entry, hrt_abstime delay, hrt_callout callout, void *arg)
{
hrt_call_internal(entry,
hrt_call_internal(entry,
hrt_absolute_time() + delay,
0,
callout,
@ -730,9 +736,11 @@ hrt_call_enter(struct hrt_call *entry)
//lldbg("call enter at head, reschedule\n");
/* we changed the next deadline, reschedule the timer event */
hrt_call_reschedule();
} else {
do {
next = (struct hrt_call *)sq_next(&call->link);
if ((next == NULL) || (entry->deadline < next->deadline)) {
//lldbg("call enter after head\n");
sq_addafter(&call->link, &entry->link, &callout_queue);
@ -755,8 +763,10 @@ hrt_call_invoke(void)
hrt_abstime now = hrt_absolute_time();
call = (struct hrt_call *)sq_peek(&callout_queue);
if (call == NULL)
break;
if (call->deadline > now)
break;
@ -764,7 +774,7 @@ hrt_call_invoke(void)
//lldbg("call pop\n");
/* save the intended deadline for periodic calls */
deadline = call->deadline;
deadline = call->deadline;
/* zero the deadline, as the call has occurred */
call->deadline = 0;
@ -804,7 +814,7 @@ hrt_call_reschedule()
* we want.
*
* It is important for accurate timekeeping that the compare
* interrupt fires sufficiently often that the base_time update in
* interrupt fires sufficiently often that the base_time update in
* hrt_absolute_time runs at least once per timer period.
*/
if (next != NULL) {
@ -813,11 +823,13 @@ hrt_call_reschedule()
//lldbg("pre-expired\n");
/* set a minimal deadline so that we call ASAP */
deadline = now + HRT_INTERVAL_MIN;
} else if (next->deadline < deadline) {
//lldbg("due soon\n");
deadline = next->deadline;
}
}
//lldbg("schedule for %u at %u\n", (unsigned)(deadline & 0xffffffff), (unsigned)(now & 0xffffffff));
/* set the new compare value and remember it for latency tracking */
@ -837,6 +849,7 @@ hrt_latency_update(void)
return;
}
}
/* catch-all at the end */
latency_counters[index]++;
}

115
apps/drivers/stm32/drv_pwm_servo.c
View File

@ -197,26 +197,29 @@ pwm_channel_init(unsigned channel)
/* configure the channel */
switch (pwm_channels[channel].timer_channel) {
case 1:
rCCMR1(timer) |= (6 << 4);
rCCR1(timer) = pwm_channels[channel].default_value;
rCCER(timer) |= (1 << 0);
break;
case 2:
rCCMR1(timer) |= (6 << 12);
rCCR2(timer) = pwm_channels[channel].default_value;
rCCER(timer) |= (1 << 4);
break;
case 3:
rCCMR2(timer) |= (6 << 4);
rCCR3(timer) = pwm_channels[channel].default_value;
rCCER(timer) |= (1 << 8);
break;
case 4:
rCCMR2(timer) |= (6 << 12);
rCCR4(timer) = pwm_channels[channel].default_value;
rCCER(timer) |= (1 << 12);
break;
case 1:
rCCMR1(timer) |= (6 << 4);
rCCR1(timer) = pwm_channels[channel].default_value;
rCCER(timer) |= (1 << 0);
break;
case 2:
rCCMR1(timer) |= (6 << 12);
rCCR2(timer) = pwm_channels[channel].default_value;
rCCER(timer) |= (1 << 4);
break;
case 3:
rCCMR2(timer) |= (6 << 4);
rCCR3(timer) = pwm_channels[channel].default_value;
rCCER(timer) |= (1 << 8);
break;
case 4:
rCCMR2(timer) |= (6 << 12);
rCCR4(timer) = pwm_channels[channel].default_value;
rCCER(timer) |= (1 << 12);
break;
}
}
@ -238,22 +241,28 @@ up_pwm_servo_set(unsigned channel, servo_position_t value)
/* configure the channel */
if (value > 0)
value--;
switch (pwm_channels[channel].timer_channel) {
case 1:
rCCR1(timer) = value;
break;
case 2:
rCCR2(timer) = value;
break;
case 3:
rCCR3(timer) = value;
break;
case 4:
rCCR4(timer) = value;
break;
default:
return -1;
case 1:
rCCR1(timer) = value;
break;
case 2:
rCCR2(timer) = value;
break;
case 3:
rCCR3(timer) = value;
break;
case 4:
rCCR4(timer) = value;
break;
default:
return -1;
}
return 0;
}
@ -275,19 +284,23 @@ up_pwm_servo_get(unsigned channel)
/* configure the channel */
switch (pwm_channels[channel].timer_channel) {
case 1:
value = rCCR1(timer);
break;
case 2:
value = rCCR2(timer);
break;
case 3:
value = rCCR3(timer);
break;
case 4:
value = rCCR4(timer);
break;
case 1:
value = rCCR1(timer);
break;
case 2:
value = rCCR2(timer);
break;
case 3:
value = rCCR3(timer);
break;
case 4:
value = rCCR4(timer);
break;
}
return value;
}
@ -303,9 +316,10 @@ up_pwm_servo_init(uint32_t channel_mask)
/* now init channels */
for (unsigned i = 0; i < PWM_SERVO_MAX_CHANNELS; i++) {
/* don't do init for disabled channels; this leaves the pin configs alone */
if (((1<<i) & channel_mask) && (pwm_channels[i].gpio != 0))
if (((1 << i) & channel_mask) && (pwm_channels[i].gpio != 0))
pwm_channel_init(i);
}
return OK;
}
@ -326,17 +340,18 @@ up_pwm_servo_set_rate(unsigned rate)
if (pwm_timers[i].base != 0)
pwm_timer_set_rate(i, rate);
}
return OK;
}
void
up_pwm_servo_arm(bool armed)
{
/*
/*
* XXX this is inelgant and in particular will either jam outputs at whatever level
* they happen to be at at the time the timers stop or generate runts.
* The right thing is almost certainly to kill auto-reload on the timers so that
* they just stop at the end of their count for disable, and to reset/restart them
* The right thing is almost certainly to kill auto-reload on the timers so that
* they just stop at the end of their count for disable, and to reset/restart them
* for enable.
*/

79
apps/drivers/stm32/tone_alarm/tone_alarm.cpp
View File

@ -34,8 +34,8 @@
/**
* Driver for the PX4 audio alarm port, /dev/tone_alarm.
*
* The tone_alarm driver supports a set of predefined "alarm"
* patterns and one user-supplied pattern. Patterns are ordered by
* The tone_alarm driver supports a set of predefined "alarm"
* patterns and one user-supplied pattern. Patterns are ordered by
* priority, with a higher-priority pattern interrupting any
* lower-priority pattern that might be playing.
*
@ -244,7 +244,8 @@ const tone_note ToneAlarm::_patterns[_max_pattern][_max_pattern_len] = {
{{TONE_NOTE_C7, 100}},
{{TONE_NOTE_D7, 100}},
{{TONE_NOTE_E7, 100}},
{ //This is tetris ;)
{
//This is tetris ;)
{TONE_NOTE_C6, 40},
{TONE_NOTE_G5, 20},
{TONE_NOTE_G5S, 20},
@ -361,6 +362,7 @@ ToneAlarm::init()
int ret;
ret = CDev::init();
if (ret != OK)
return ret;
@ -368,34 +370,34 @@ ToneAlarm::init()
stm32_configgpio(GPIO_TONE_ALARM);
/* clock/power on our timer */
modifyreg32(STM32_RCC_APB1ENR, 0, TONE_ALARM_CLOCK_ENABLE);
modifyreg32(STM32_RCC_APB1ENR, 0, TONE_ALARM_CLOCK_ENABLE);
/* initialise the timer */
rCR1 = 0;
rCR2 = 0;
rSMCR = 0;
rDIER = 0;
rCCER &= TONE_CCER; /* unlock CCMR* registers */
rCCMR1 = TONE_CCMR1;
rCCMR2 = TONE_CCMR2;
rCCER = TONE_CCER;
rDCR = 0;
rCR1 = 0;
rCR2 = 0;
rSMCR = 0;
rDIER = 0;
rCCER &= TONE_CCER; /* unlock CCMR* registers */
rCCMR1 = TONE_CCMR1;
rCCMR2 = TONE_CCMR2;
rCCER = TONE_CCER;
rDCR = 0;
/* toggle the CC output each time the count passes 1 */
TONE_rCCR = 1;
/* toggle the CC output each time the count passes 1 */
TONE_rCCR = 1;
/*
* Configure the timebase to free-run at half max frequency.
* XXX this should be more flexible in order to get a better
* frequency range, but for the F4 with the APB1 timers based
* at 42MHz, this gets us down to ~320Hz or so.
*/
rPSC = 1;
/*
* Configure the timebase to free-run at half max frequency.
* XXX this should be more flexible in order to get a better
* frequency range, but for the F4 with the APB1 timers based
* at 42MHz, this gets us down to ~320Hz or so.
*/
rPSC = 1;
/* make sure the timer is running */
rCR1 = GTIM_CR1_CEN;
/* make sure the timer is running */
rCR1 = GTIM_CR1_CEN;
debug("ready");
debug("ready");
return OK;
}
@ -413,6 +415,7 @@ ToneAlarm::ioctl(file *filp, int cmd, unsigned long arg)
switch (cmd) {
case TONE_SET_ALARM:
debug("TONE_SET_ALARM %u", arg);
if (new_pattern == 0) {
/* cancel any current alarm */
_current_pattern = _pattern_none;
@ -431,10 +434,13 @@ ToneAlarm::ioctl(file *filp, int cmd, unsigned long arg)
/* and start playing it */
next();
} else {
/* current pattern is higher priority than the new pattern, ignore */
}
break;
default:
result = -ENOTTY;
break;
@ -457,8 +463,10 @@ ToneAlarm::write(file *filp, const char *buffer, size_t len)
/* sanity-check the size of the write */
if (len > (_max_pattern_len * sizeof(tone_note)))
return -EFBIG;
if ((len % sizeof(tone_note)) || (len == 0))
return -EIO;
if (!check((tone_note *)buffer))
return -EIO;
@ -479,6 +487,7 @@ ToneAlarm::write(file *filp, const char *buffer, size_t len)
debug("starting user pattern");
next();
}
irqrestore(flags);
return len;
@ -511,18 +520,22 @@ ToneAlarm::next(void)
/* find the note to play */
if (_current_pattern == _pattern_user) {
np = &_user_pattern[_next_note];
} else {
np = &_patterns[_current_pattern - 1][_next_note];
}
/* work out which note is next */
_next_note++;
if (_next_note >= _note_max) {
/* hit the end of the pattern, stop */
_current_pattern = _pattern_none;
} else if (np[1].duration == DURATION_END) {
/* hit the end of the pattern, stop */
_current_pattern = _pattern_none;
} else if (np[1].duration == DURATION_REPEAT) {
/* next note is a repeat, rewind in preparation */
_next_note = 0;
@ -534,11 +547,11 @@ ToneAlarm::next(void)
/* set reload based on the pitch */
rARR = _notes[np->pitch];
/* force an update, reloads the counter and all registers */
rEGR = GTIM_EGR_UG;
/* force an update, reloads the counter and all registers */
rEGR = GTIM_EGR_UG;
/* enable the output */
rCCER |= TONE_CCER;
/* enable the output */
rCCER |= TONE_CCER;
}
/* arrange a callback when the note/rest is done */
@ -554,6 +567,7 @@ ToneAlarm::check(tone_note *pattern)
if ((i == 0) &&
((pattern[i].duration == DURATION_END) || (pattern[i].duration == DURATION_REPEAT)))
return false;
if (pattern[i].duration == DURATION_END)
break;
@ -561,6 +575,7 @@ ToneAlarm::check(tone_note *pattern)
if (pattern[i].pitch >= _note_max)
return false;
}
return true;
}
@ -592,13 +607,16 @@ play_pattern(unsigned pattern)
int fd, ret;
fd = open("/dev/tone_alarm", 0);
if (fd < 0)
err(1, "/dev/tone_alarm");
warnx("playing pattern %u", pattern);
ret = ioctl(fd, TONE_SET_ALARM, pattern);
if (ret != 0)
err(1, "TONE_SET_ALARM");
exit(0);
}
@ -615,6 +633,7 @@ tone_alarm_main(int argc, char *argv[])
if (g_dev == nullptr)
errx(1, "couldn't allocate the ToneAlarm driver");
if (g_dev->init() != OK) {
delete g_dev;
errx(1, "ToneAlarm init failed");
@ -623,8 +642,10 @@ tone_alarm_main(int argc, char *argv[])
if ((argc > 1) && !strcmp(argv[1], "start"))
play_pattern(1);
if ((argc > 1) && !strcmp(argv[1], "stop"))
play_pattern(0);
if ((pattern = strtol(argv[1], nullptr, 10)) != 0)
play_pattern(pattern);

8
apps/systemcmds/bl_update/bl_update.c
View File

@ -67,10 +67,12 @@ bl_update_main(int argc, char *argv[])
setopt();
int fd = open(argv[1], O_RDONLY);
if (fd < 0)
err(1, "open %s", argv[1]);
struct stat s;
if (stat(argv[1], &s) < 0)
err(1, "stat %s", argv[1]);
@ -79,14 +81,17 @@ bl_update_main(int argc, char *argv[])
errx(1, "%s: file too large", argv[1]);
uint8_t *buf = malloc(s.st_size);
if (buf == NULL)
errx(1, "failed to allocate %u bytes for firmware buffer", s.st_size);
if (read(fd, buf, s.st_size) != s.st_size)
err(1, "firmware read error");
close(fd);
uint32_t *hdr = (uint32_t *)buf;
if ((hdr[0] < 0x20000000) || /* stack not below RAM */
(hdr[0] > (0x20000000 + (128 * 1024))) || /* stack not above RAM */
(hdr[1] < 0x08000000) || /* entrypoint not below flash */
@ -123,6 +128,7 @@ bl_update_main(int argc, char *argv[])
/* wait for the operation to complete */
while (*sr & 0x1000) {
}
if (*sr & 0xf2) {
warnx("WARNING: erase error 0x%02x", *sr);
goto flash_end;
@ -148,6 +154,7 @@ bl_update_main(int argc, char *argv[])
/* wait for the operation to complete */
while (*sr & 0x1000) {
}
if (*sr & 0xf2) {
warnx("WARNING: program error 0x%02x", *sr);
goto flash_end;
@ -203,6 +210,7 @@ setopt(void)
if ((*optcr & opt_mask) == opt_bits)
errx(0, "option bits set");
errx(1, "option bits setting failed; readback 0x%04x", *optcr);
}

479
apps/systemcmds/eeprom/24xxxx_mtd.c
View File

@ -135,20 +135,19 @@
* cast between pointers to struct mtd_dev_s and struct at24c_dev_s.
*/
struct at24c_dev_s
{
struct mtd_dev_s mtd; /* MTD interface */
FAR struct i2c_dev_s *dev; /* Saved I2C interface instance */
uint8_t addr; /* I2C address */
uint16_t pagesize; /* 32, 63 */
uint16_t npages; /* 128, 256, 512, 1024 */
struct at24c_dev_s {
struct mtd_dev_s mtd; /* MTD interface */
FAR struct i2c_dev_s *dev; /* Saved I2C interface instance */
uint8_t addr; /* I2C address */
uint16_t pagesize; /* 32, 63 */
uint16_t npages; /* 128, 256, 512, 1024 */
perf_counter_t perf_reads;
perf_counter_t perf_writes;
perf_counter_t perf_resets;
perf_counter_t perf_read_retries;
perf_counter_t perf_read_errors;
perf_counter_t perf_write_errors;
perf_counter_t perf_reads;
perf_counter_t perf_writes;
perf_counter_t perf_resets;
perf_counter_t perf_read_retries;
perf_counter_t perf_read_errors;
perf_counter_t perf_write_errors;
};
/************************************************************************************
@ -159,9 +158,9 @@ struct at24c_dev_s
static int at24c_erase(FAR struct mtd_dev_s *dev, off_t startblock, size_t nblocks);
static ssize_t at24c_bread(FAR struct mtd_dev_s *dev, off_t startblock,
size_t nblocks, FAR uint8_t *buf);
size_t nblocks, FAR uint8_t *buf);
static ssize_t at24c_bwrite(FAR struct mtd_dev_s *dev, off_t startblock,
size_t nblocks, FAR const uint8_t *buf);
size_t nblocks, FAR const uint8_t *buf);
static int at24c_ioctl(FAR struct mtd_dev_s *dev, int cmd, unsigned long arg);
/************************************************************************************
@ -180,35 +179,32 @@ static struct at24c_dev_s g_at24c;
static int at24c_eraseall(FAR struct at24c_dev_s *priv)
{
int startblock = 0;
uint8_t buf[AT24XX_PAGESIZE + 2];
int startblock = 0;
uint8_t buf[AT24XX_PAGESIZE + 2];
struct i2c_msg_s msgv[1] =
{
{
.addr = priv->addr,
.flags = 0,
.buffer = &buf[0],
.length = sizeof(buf),
}
};
struct i2c_msg_s msgv[1] = {
{
.addr = priv->addr,
.flags = 0,
.buffer = &buf[0],
.length = sizeof(buf),
}
};
memset(&buf[2],0xff,priv->pagesize);
memset(&buf[2], 0xff, priv->pagesize);
for (startblock = 0; startblock < priv->npages; startblock++)
{
uint16_t offset = startblock * priv->pagesize;
buf[1] = offset & 0xff;
buf[0] = (offset >> 8) & 0xff;
for (startblock = 0; startblock < priv->npages; startblock++) {
uint16_t offset = startblock * priv->pagesize;
buf[1] = offset & 0xff;
buf[0] = (offset >> 8) & 0xff;
while (I2C_TRANSFER(priv->dev, &msgv[0], 1) < 0)
{
fvdbg("erase stall\n");
usleep(10000);
}
}
while (I2C_TRANSFER(priv->dev, &msgv[0], 1) < 0) {
fvdbg("erase stall\n");
usleep(10000);
}
}
return OK;
return OK;
}
/************************************************************************************
@ -217,9 +213,9 @@ static int at24c_eraseall(FAR struct at24c_dev_s *priv)
static int at24c_erase(FAR struct mtd_dev_s *dev, off_t startblock, size_t nblocks)
{
/* EEprom need not erase */
/* EEprom need not erase */
return (int)nblocks;
return (int)nblocks;
}
/************************************************************************************
@ -227,90 +223,86 @@ static int at24c_erase(FAR struct mtd_dev_s *dev, off_t startblock, size_t nbloc
************************************************************************************/
static ssize_t at24c_bread(FAR struct mtd_dev_s *dev, off_t startblock,
size_t nblocks, FAR uint8_t *buffer)
size_t nblocks, FAR uint8_t *buffer)
{
FAR struct at24c_dev_s *priv = (FAR struct at24c_dev_s *)dev;
size_t blocksleft;
uint8_t addr[2];
int ret;
FAR struct at24c_dev_s *priv = (FAR struct at24c_dev_s *)dev;
size_t blocksleft;
uint8_t addr[2];
int ret;
struct i2c_msg_s msgv[2] =
{
{
.addr = priv->addr,
.flags = 0,
.buffer = &addr[0],
.length = sizeof(addr),
},
{
.addr = priv->addr,
.flags = I2C_M_READ,
.buffer = 0,
.length = priv->pagesize,
}
};
struct i2c_msg_s msgv[2] = {
{
.addr = priv->addr,
.flags = 0,
.buffer = &addr[0],
.length = sizeof(addr),
},
{
.addr = priv->addr,
.flags = I2C_M_READ,
.buffer = 0,
.length = priv->pagesize,
}
};
#if CONFIG_AT24XX_MTD_BLOCKSIZE > AT24XX_PAGESIZE
startblock *= (CONFIG_AT24XX_MTD_BLOCKSIZE / AT24XX_PAGESIZE);
nblocks *= (CONFIG_AT24XX_MTD_BLOCKSIZE / AT24XX_PAGESIZE);
startblock *= (CONFIG_AT24XX_MTD_BLOCKSIZE / AT24XX_PAGESIZE);
nblocks *= (CONFIG_AT24XX_MTD_BLOCKSIZE / AT24XX_PAGESIZE);
#endif
blocksleft = nblocks;
blocksleft = nblocks;
fvdbg("startblock: %08lx nblocks: %d\n", (long)startblock, (int)nblocks);
fvdbg("startblock: %08lx nblocks: %d\n", (long)startblock, (int)nblocks);
if (startblock >= priv->npages)
{
return 0;
}
if (startblock >= priv->npages) {
return 0;
}
if (startblock + nblocks > priv->npages)
{
nblocks = priv->npages - startblock;
}
if (startblock + nblocks > priv->npages) {
nblocks = priv->npages - startblock;
}
while (blocksleft-- > 0)
{
uint16_t offset = startblock * priv->pagesize;
unsigned tries = CONFIG_AT24XX_WRITE_TIMEOUT_MS;
while (blocksleft-- > 0) {
uint16_t offset = startblock * priv->pagesize;
unsigned tries = CONFIG_AT24XX_WRITE_TIMEOUT_MS;
addr[1] = offset & 0xff;
addr[0] = (offset >> 8) & 0xff;
msgv[1].buffer = buffer;
addr[1] = offset & 0xff;
addr[0] = (offset >> 8) & 0xff;
msgv[1].buffer = buffer;
for (;;)
{
for (;;) {
perf_begin(priv->perf_reads);
ret = I2C_TRANSFER(priv->dev, &msgv[0], 2);
perf_end(priv->perf_reads);
if (ret >= 0)
break;
perf_begin(priv->perf_reads);
ret = I2C_TRANSFER(priv->dev, &msgv[0], 2);
perf_end(priv->perf_reads);
fvdbg("read stall");
usleep(1000);
if (ret >= 0)
break;
/* We should normally only be here on the first read after
* a write.
*
* XXX maybe do special first-read handling with optional
* bus reset as well?
*/
perf_count(priv->perf_read_retries);
if (--tries == 0)
{
perf_count(priv->perf_read_errors);
return ERROR;
}
}
fvdbg("read stall");
usleep(1000);
startblock++;
buffer += priv->pagesize;
}
/* We should normally only be here on the first read after
* a write.
*
* XXX maybe do special first-read handling with optional
* bus reset as well?
*/
perf_count(priv->perf_read_retries);
if (--tries == 0) {
perf_count(priv->perf_read_errors);
return ERROR;
}
}
startblock++;
buffer += priv->pagesize;
}
#if CONFIG_AT24XX_MTD_BLOCKSIZE > AT24XX_PAGESIZE
return nblocks / (CONFIG_AT24XX_MTD_BLOCKSIZE / AT24XX_PAGESIZE);
return nblocks / (CONFIG_AT24XX_MTD_BLOCKSIZE / AT24XX_PAGESIZE);
#else
return nblocks;
return nblocks;
#endif
}
@ -322,81 +314,75 @@ static ssize_t at24c_bread(FAR struct mtd_dev_s *dev, off_t startblock,
************************************************************************************/
static ssize_t at24c_bwrite(FAR struct mtd_dev_s *dev, off_t startblock, size_t nblocks,
FAR const uint8_t *buffer)
FAR const uint8_t *buffer)
{
FAR struct at24c_dev_s *priv = (FAR struct at24c_dev_s *)dev;
size_t blocksleft;
uint8_t buf[AT24XX_PAGESIZE+2];
int ret;
FAR struct at24c_dev_s *priv = (FAR struct at24c_dev_s *)dev;
size_t blocksleft;
uint8_t buf[AT24XX_PAGESIZE + 2];
int ret;
struct i2c_msg_s msgv[1] =
{
{
.addr = priv->addr,
.flags = 0,
.buffer = &buf[0],
.length = sizeof(buf),
}
};
struct i2c_msg_s msgv[1] = {
{
.addr = priv->addr,
.flags = 0,
.buffer = &buf[0],
.length = sizeof(buf),
}
};
#if CONFIG_AT24XX_MTD_BLOCKSIZE > AT24XX_PAGESIZE
startblock *= (CONFIG_AT24XX_MTD_BLOCKSIZE / AT24XX_PAGESIZE);
nblocks *= (CONFIG_AT24XX_MTD_BLOCKSIZE / AT24XX_PAGESIZE);
startblock *= (CONFIG_AT24XX_MTD_BLOCKSIZE / AT24XX_PAGESIZE);
nblocks *= (CONFIG_AT24XX_MTD_BLOCKSIZE / AT24XX_PAGESIZE);
#endif
blocksleft = nblocks;
blocksleft = nblocks;
if (startblock >= priv->npages)
{
return 0;
}
if (startblock >= priv->npages) {
return 0;
}
if (startblock + nblocks > priv->npages)
{
nblocks = priv->npages - startblock;
}
if (startblock + nblocks > priv->npages) {
nblocks = priv->npages - startblock;
}
fvdbg("startblock: %08lx nblocks: %d\n", (long)startblock, (int)nblocks);
fvdbg("startblock: %08lx nblocks: %d\n", (long)startblock, (int)nblocks);
while (blocksleft-- > 0)
{
uint16_t offset = startblock * priv->pagesize;
unsigned tries = CONFIG_AT24XX_WRITE_TIMEOUT_MS;
while (blocksleft-- > 0) {
uint16_t offset = startblock * priv->pagesize;
unsigned tries = CONFIG_AT24XX_WRITE_TIMEOUT_MS;
buf[1] = offset & 0xff;
buf[0] = (offset >> 8) & 0xff;
memcpy(&buf[2], buffer, priv->pagesize);
buf[1] = offset & 0xff;
buf[0] = (offset >> 8) & 0xff;
memcpy(&buf[2], buffer, priv->pagesize);
for (;;)
{
for (;;) {
perf_begin(priv->perf_writes);
ret = I2C_TRANSFER(priv->dev, &msgv[0], 1);
perf_end(priv->perf_writes);
perf_begin(priv->perf_writes);
ret = I2C_TRANSFER(priv->dev, &msgv[0], 1);
perf_end(priv->perf_writes);
if (ret >= 0)
break;
if (ret >= 0)
break;
fvdbg("write stall");
usleep(1000);
fvdbg("write stall");
usleep(1000);
/* We expect to see a number of retries per write cycle as we
* poll for write completion.
*/
if (--tries == 0)
{
perf_count(priv->perf_write_errors);
return ERROR;
}
}
/* We expect to see a number of retries per write cycle as we
* poll for write completion.
*/
if (--tries == 0) {
perf_count(priv->perf_write_errors);
return ERROR;
}
}
startblock++;
buffer += priv->pagesize;
}
startblock++;
buffer += priv->pagesize;
}
#if CONFIG_AT24XX_MTD_BLOCKSIZE > AT24XX_PAGESIZE
return nblocks / (CONFIG_AT24XX_MTD_BLOCKSIZE / AT24XX_PAGESIZE);
return nblocks / (CONFIG_AT24XX_MTD_BLOCKSIZE / AT24XX_PAGESIZE);
#else
return nblocks;
return nblocks;
#endif
}
@ -406,67 +392,65 @@ static ssize_t at24c_bwrite(FAR struct mtd_dev_s *dev, off_t startblock, size_t
static int at24c_ioctl(FAR struct mtd_dev_s *dev, int cmd, unsigned long arg)
{
FAR struct at24c_dev_s *priv = (FAR struct at24c_dev_s *)dev;
int ret = -EINVAL; /* Assume good command with bad parameters */
FAR struct at24c_dev_s *priv = (FAR struct at24c_dev_s *)dev;
int ret = -EINVAL; /* Assume good command with bad parameters */
fvdbg("cmd: %d \n", cmd);
fvdbg("cmd: %d \n", cmd);
switch (cmd)
{
case MTDIOC_GEOMETRY:
{
FAR struct mtd_geometry_s *geo = (FAR struct mtd_geometry_s *)((uintptr_t)arg);
if (geo)
{
/* Populate the geometry structure with information need to know
* the capacity and how to access the device.
*
* NOTE: that the device is treated as though it where just an array
* of fixed size blocks. That is most likely not true, but the client
* will expect the device logic to do whatever is necessary to make it
* appear so.
*
* blocksize:
* May be user defined. The block size for the at24XX devices may be
* larger than the page size in order to better support file systems.
* The read and write functions translate BLOCKS to pages for the
* small flash devices
* erasesize:
* It has to be at least as big as the blocksize, bigger serves no
* purpose.
* neraseblocks
* Note that the device size is in kilobits and must be scaled by
* 1024 / 8
*/
switch (cmd) {
case MTDIOC_GEOMETRY: {
FAR struct mtd_geometry_s *geo = (FAR struct mtd_geometry_s *)((uintptr_t)arg);
if (geo) {
/* Populate the geometry structure with information need to know
* the capacity and how to access the device.
*
* NOTE: that the device is treated as though it where just an array
* of fixed size blocks. That is most likely not true, but the client
* will expect the device logic to do whatever is necessary to make it
* appear so.
*
* blocksize:
* May be user defined. The block size for the at24XX devices may be
* larger than the page size in order to better support file systems.
* The read and write functions translate BLOCKS to pages for the
* small flash devices
* erasesize:
* It has to be at least as big as the blocksize, bigger serves no
* purpose.
* neraseblocks
* Note that the device size is in kilobits and must be scaled by
* 1024 / 8
*/
#if CONFIG_AT24XX_MTD_BLOCKSIZE > AT24XX_PAGESIZE
geo->blocksize = CONFIG_AT24XX_MTD_BLOCKSIZE;
geo->erasesize = CONFIG_AT24XX_MTD_BLOCKSIZE;
geo->neraseblocks = (CONFIG_AT24XX_SIZE * 1024 / 8) / CONFIG_AT24XX_MTD_BLOCKSIZE;
geo->blocksize = CONFIG_AT24XX_MTD_BLOCKSIZE;
geo->erasesize = CONFIG_AT24XX_MTD_BLOCKSIZE;
geo->neraseblocks = (CONFIG_AT24XX_SIZE * 1024 / 8) / CONFIG_AT24XX_MTD_BLOCKSIZE;
#else
geo->blocksize = priv->pagesize;
geo->erasesize = priv->pagesize;
geo->neraseblocks = priv->npages;
geo->blocksize = priv->pagesize;
geo->erasesize = priv->pagesize;
geo->neraseblocks = priv->npages;
#endif
ret = OK;
ret = OK;
fvdbg("blocksize: %d erasesize: %d neraseblocks: %d\n",
geo->blocksize, geo->erasesize, geo->neraseblocks);
}
}
break;
fvdbg("blocksize: %d erasesize: %d neraseblocks: %d\n",
geo->blocksize, geo->erasesize, geo->neraseblocks);
}
}
break;
case MTDIOC_BULKERASE:
ret=at24c_eraseall(priv);
break;
case MTDIOC_BULKERASE:
ret = at24c_eraseall(priv);
break;
case MTDIOC_XIPBASE:
default:
ret = -ENOTTY; /* Bad command */
break;
}
case MTDIOC_XIPBASE:
default:
ret = -ENOTTY; /* Bad command */
break;
}
return ret;
return ret;
}
/************************************************************************************
@ -483,46 +467,45 @@ static int at24c_ioctl(FAR struct mtd_dev_s *dev, int cmd, unsigned long arg)
*
************************************************************************************/
FAR struct mtd_dev_s *at24c_initialize(FAR struct i2c_dev_s *dev)
{
FAR struct at24c_dev_s *priv;
FAR struct mtd_dev_s *at24c_initialize(FAR struct i2c_dev_s *dev) {
FAR struct at24c_dev_s *priv;
fvdbg("dev: %p\n", dev);
fvdbg("dev: %p\n", dev);
/* Allocate a state structure (we allocate the structure instead of using
* a fixed, static allocation so that we can handle multiple FLASH devices.
* The current implementation would handle only one FLASH part per I2C
* device (only because of the SPIDEV_FLASH definition) and so would have
* to be extended to handle multiple FLASH parts on the same I2C bus.
*/
/* Allocate a state structure (we allocate the structure instead of using
* a fixed, static allocation so that we can handle multiple FLASH devices.
* The current implementation would handle only one FLASH part per I2C
* device (only because of the SPIDEV_FLASH definition) and so would have
* to be extended to handle multiple FLASH parts on the same I2C bus.
*/
priv = &g_at24c;
if (priv)
{
/* Initialize the allocated structure */
priv->addr = CONFIG_AT24XX_ADDR;
priv->pagesize = AT24XX_PAGESIZE;
priv->npages = AT24XX_NPAGES;
priv = &g_at24c;
priv->mtd.erase = at24c_erase;
priv->mtd.bread = at24c_bread;
priv->mtd.bwrite = at24c_bwrite;
priv->mtd.ioctl = at24c_ioctl;
priv->dev = dev;
if (priv) {
/* Initialize the allocated structure */
priv->perf_reads = perf_alloc(PC_ELAPSED, "EEPROM read");
priv->perf_writes = perf_alloc(PC_ELAPSED, "EEPROM write");
priv->perf_resets = perf_alloc(PC_COUNT, "EEPROM reset");
priv->perf_read_retries = perf_alloc(PC_COUNT, "EEPROM read retries");
priv->perf_read_errors = perf_alloc(PC_COUNT, "EEPROM read errors");
priv->perf_write_errors = perf_alloc(PC_COUNT, "EEPROM write errors");
}
priv->addr = CONFIG_AT24XX_ADDR;
priv->pagesize = AT24XX_PAGESIZE;
priv->npages = AT24XX_NPAGES;
/* Return the implementation-specific state structure as the MTD device */
priv->mtd.erase = at24c_erase;
priv->mtd.bread = at24c_bread;
priv->mtd.bwrite = at24c_bwrite;
priv->mtd.ioctl = at24c_ioctl;
priv->dev = dev;
fvdbg("Return %p\n", priv);
return (FAR struct mtd_dev_s *)priv;
priv->perf_reads = perf_alloc(PC_ELAPSED, "EEPROM read");
priv->perf_writes = perf_alloc(PC_ELAPSED, "EEPROM write");
priv->perf_resets = perf_alloc(PC_COUNT, "EEPROM reset");
priv->perf_read_retries = perf_alloc(PC_COUNT, "EEPROM read retries");
priv->perf_read_errors = perf_alloc(PC_COUNT, "EEPROM read errors");
priv->perf_write_errors = perf_alloc(PC_COUNT, "EEPROM write errors");
}
/* Return the implementation-specific state structure as the MTD device */
fvdbg("Return %p\n", priv);
return (FAR struct mtd_dev_s *)priv;
}
/*
@ -530,5 +513,5 @@ FAR struct mtd_dev_s *at24c_initialize(FAR struct i2c_dev_s *dev)
*/
int at24c_nuke(void)
{
return at24c_eraseall(&g_at24c);
return at24c_eraseall(&g_at24c);
}

11
apps/systemcmds/eeprom/eeprom.c
View File

@ -143,13 +143,13 @@ eeprom_start(void)
if (ret < 0)
errx(1, "failed to initialize NXFFS - erase EEPROM to reformat");
/* mount the EEPROM */
ret = mount(NULL, "/eeprom", "nxffs", 0, NULL);
if (ret < 0)
errx(1, "failed to mount /eeprom - erase EEPROM to reformat");
started = true;
warnx("mounted EEPROM at /eeprom");
exit(0);
@ -165,6 +165,7 @@ eeprom_erase(void)
if (at24c_nuke())
errx(1, "erase failed");
errx(0, "erase done, reboot now");
}
@ -190,7 +191,7 @@ eeprom_save(const char *name)
if (!started)
errx(1, "must be started first");
if (!name)
if (!name)
err(1, "missing argument for device name, try '/eeprom/parameters'");
warnx("WARNING: 'eeprom save_param' deprecated - use 'param save' instead");
@ -221,9 +222,9 @@ eeprom_load(const char *name)
if (!started)
errx(1, "must be started first");
if (!name)
if (!name)
err(1, "missing argument for device name, try '/eeprom/parameters'");
warnx("WARNING: 'eeprom load_param' deprecated - use 'param load' instead");
int fd = open(name, O_RDONLY);

7
apps/systemcmds/led/led.c
View File

@ -121,6 +121,7 @@ usage(const char *reason)
{
if (reason)
fprintf(stderr, "%s\n", reason);
fprintf(stderr, "usage: led {start|stop|status} [-d <UART>]\n\n");
exit(1);
}
@ -129,7 +130,7 @@ usage(const char *reason)
* The deamon app only briefly exists to start
* the background job. The stack size assigned in the
* Makefile does only apply to this management task.
*
*
* The actual stack size should be set in the call
* to task_create().
*/
@ -165,9 +166,11 @@ int led_main(int argc, char *argv[])
if (!strcmp(argv[1], "status")) {
if (thread_running) {
printf("\tled is running\n");
} else {
printf("\tled not started\n");
}
exit(0);
}
@ -187,7 +190,7 @@ int led_thread_main(int argc, char *argv[])
while (!thread_should_exit) {
/* swell blue led */
/* 200 Hz base loop */
usleep(1000000 / rate);

1
apps/systemcmds/mixer/mixer.c
View File

@ -97,6 +97,7 @@ load(const char *devname, const char *fname)
/* tell it to load the file */
ret = ioctl(dev, MIXERIOCLOADFILE, (unsigned long)fname);
if (ret != 0) {
fprintf(stderr, "failed loading %s\n", fname);
}

13
apps/systemcmds/param/param.c
View File

@ -70,10 +70,13 @@ param_main(int argc, char *argv[])
if (argc >= 2) {
if (!strcmp(argv[1], "save"))
do_save();
if (!strcmp(argv[1], "load"))
do_load();
if (!strcmp(argv[1], "import"))
do_import();
if (!strcmp(argv[1], "show"))
do_show();
}
@ -154,8 +157,8 @@ do_show_print(void *arg, param_t param)
float f;
printf("%c %s: ",
param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'),
param_name(param));
param_value_unsaved(param) ? '*' : (param_value_is_default(param) ? ' ' : '+'),
param_name(param));
/*
* This case can be expanded to handle printing common structure types.
@ -167,19 +170,25 @@ do_show_print(void *arg, param_t param)
printf("%d\n", i);
return;
}
break;
case PARAM_TYPE_FLOAT:
if (!param_get(param, &f)) {
printf("%4.4f\n", (double)f);
return;
}
break;
case PARAM_TYPE_STRUCT ... PARAM_TYPE_STRUCT_MAX:
printf("<struct type %d size %u>\n", 0 + param_type(param), param_size(param));
return;
default:
printf("<unknown type %d>\n", 0 + param_type(param));
return;
}
printf("<error fetching parameter %d>\n", param);
}

6
apps/systemcmds/top/top.c
View File

@ -190,13 +190,15 @@ int top_main(int argc, char *argv[])
runtime_spaces = "";
}
unsigned stack_size = (uintptr_t)system_load.tasks[i].tcb->adj_stack_ptr -
(uintptr_t)system_load.tasks[i].tcb->stack_alloc_ptr;
unsigned stack_size = (uintptr_t)system_load.tasks[i].tcb->adj_stack_ptr -
(uintptr_t)system_load.tasks[i].tcb->stack_alloc_ptr;
unsigned stack_free = 0;
uint8_t *stack_sweeper = (uint8_t *)system_load.tasks[i].tcb->stack_alloc_ptr;
while (stack_free < stack_size) {
if (*stack_sweeper++ != 0xff)
break;
stack_free++;
}

24
apps/systemlib/bson/tinybson.c
View File

@ -56,7 +56,7 @@
static int
read_int8(bson_decoder_t decoder, int8_t *b)
{
return (read(decoder->fd, b, sizeof(*b)) == sizeof(*b)) ? 0 : -1;
return (read(decoder->fd, b, sizeof(*b)) == sizeof(*b)) ? 0 : -1;
}
static int
@ -119,12 +119,14 @@ bson_decoder_next(bson_decoder_t decoder)
while (decoder->pending > 0) {
if (read_int8(decoder, &tbyte))
CODER_KILL(decoder, "read error discarding pending bytes");
decoder->pending--;
}
/* get the type byte */
if (read_int8(decoder, &tbyte))
CODER_KILL(decoder, "read error on type byte");
decoder->node.type = tbyte;
decoder->pending = 0;
@ -135,13 +137,17 @@ bson_decoder_next(bson_decoder_t decoder)
/* get the node name */
nlen = 0;
for (;;) {
if (nlen >= BSON_MAXNAME)
CODER_KILL(decoder, "node name overflow");
if (read_int8(decoder, (int8_t *)&decoder->node.name[nlen]))
CODER_KILL(decoder, "read error on node name");
if (decoder->node.name[nlen] == '\0')
break;
nlen++;
}
@ -151,20 +157,28 @@ bson_decoder_next(bson_decoder_t decoder)
case BSON_INT:
if (read_int32(decoder, &decoder->node.i))
CODER_KILL(decoder, "read error on BSON_INT");
break;
case BSON_DOUBLE:
if (read_double(decoder, &decoder->node.d))
CODER_KILL(decoder, "read error on BSON_DOUBLE");
break;
case BSON_STRING:
if (read_int32(decoder, &decoder->pending))
CODER_KILL(decoder, "read error on BSON_STRING length");
break;
case BSON_BINDATA:
if (read_int32(decoder, &decoder->pending))
CODER_KILL(decoder, "read error on BSON_BINDATA size");
if (read_int8(decoder, &tbyte))
CODER_KILL(decoder, "read error on BSON_BINDATA subtype");
decoder->node.subtype = tbyte;
break;
@ -186,11 +200,12 @@ bson_decoder_copy_data(bson_decoder_t decoder, void *buf)
CODER_CHECK(decoder);
/* if data already copied, return zero bytes */
if (decoder->pending == 0)
if (decoder->pending == 0)
return 0;
/* copy bytes per the node size */
result = read(decoder->fd, buf, decoder->pending);
if (result != decoder->pending)
CODER_KILL(decoder, "read error on copy_data");
@ -209,7 +224,7 @@ static int
write_int8(bson_encoder_t encoder, int8_t b)
{
debug("write_int8 %d", b);
return (write(encoder->fd, &b, sizeof(b)) == sizeof(b)) ? 0 : -1;
return (write(encoder->fd, &b, sizeof(b)) == sizeof(b)) ? 0 : -1;
}
static int
@ -233,6 +248,7 @@ write_name(bson_encoder_t encoder, const char *name)
if (len > BSON_MAXNAME)
return -1;
debug("write name '%s' len %d", name, len);
return (write(encoder->fd, name, len + 1) == (int)(len + 1)) ? 0 : -1;
}
@ -300,6 +316,7 @@ bson_encoder_append_string(bson_encoder_t encoder, const char *name, const char
write_int32(encoder, len) ||
write(encoder->fd, name, len + 1) != (int)(len + 1))
CODER_KILL(encoder, "write error on BSON_STRING");
return 0;
}
@ -314,5 +331,6 @@ bson_encoder_append_binary(bson_encoder_t encoder, const char *name, bson_binary
write_int8(encoder, subtype) ||
write(encoder->fd, data, size) != (int)(size))
CODER_KILL(encoder, "write error on BSON_BINDATA");
return 0;
}

27
apps/systemlib/bson/tinybson.h
View File

@ -31,14 +31,14 @@
*
****************************************************************************/
/**
* @file tinybson.h
*
* A simple subset SAX-style BSON parser and generator. See http://bsonspec.org
*
* Some types and defines taken from the standalone BSON parser/generator
* in the Mongo C connector.
*/
/**
* @file tinybson.h
*
* A simple subset SAX-style BSON parser and generator. See http://bsonspec.org
*
* Some types and defines taken from the standalone BSON parser/generator
* in the Mongo C connector.
*/
#ifndef _TINYBSON_H
#define _TINYBSON_H
@ -77,8 +77,7 @@ typedef enum bson_binary_subtype {
/**
* Node structure passed to the callback.
*/
typedef struct bson_node_s
{
typedef struct bson_node_s {
char name[BSON_MAXNAME];
bson_type_t type;
bson_binary_subtype_t subtype;
@ -96,8 +95,7 @@ typedef struct bson_decoder_s *bson_decoder_t;
*/
typedef int (* bson_decoder_callback)(bson_decoder_t decoder, void *private, bson_node_t node);
struct bson_decoder_s
{
struct bson_decoder_s {
int fd;
bson_decoder_callback callback;
void *private;
@ -143,8 +141,7 @@ __EXPORT size_t bson_decoder_data_pending(bson_decoder_t decoder);
/**
* Encoder state structure.
*/
typedef struct bson_encoder_s
{
typedef struct bson_encoder_s {
int fd;
} *bson_encoder_t;
@ -169,7 +166,7 @@ __EXPORT int bson_encoder_append_int(bson_encoder_t encoder, const char *name, i
*/
__EXPORT int bson_encoder_append_double(bson_encoder_t encoder, const char *name, double value);
/**
/**
* Append a string to the encoded stream.
*/
__EXPORT int bson_encoder_append_string(bson_encoder_t encoder, const char *name, const char *string);

14
apps/systemlib/conversions.c
View File

@ -45,13 +45,13 @@
int16_t
int16_t_from_bytes(uint8_t bytes[])
{
union {
uint8_t b[2];
int16_t w;
} u;
union {
uint8_t b[2];
int16_t w;
} u;
u.b[1] = bytes[0];
u.b[0] = bytes[1];
u.b[1] = bytes[0];
u.b[0] = bytes[1];
return u.w;
return u.w;
}

82
apps/systemlib/cpuload.c
View File

@ -79,43 +79,43 @@ void cpuload_initialize_once()
{
// if (!system_load.initialized)
// {
system_load.start_time = hrt_absolute_time();
int i;
for (i = 0; i < CONFIG_MAX_TASKS; i++)
{
system_load.tasks[i].valid = false;
}
system_load.total_count = 0;
system_load.start_time = hrt_absolute_time();
int i;
uint64_t now = hrt_absolute_time();
for (i = 0; i < CONFIG_MAX_TASKS; i++) {
system_load.tasks[i].valid = false;
}
/* initialize idle thread statically */
system_load.tasks[0].start_time = now;
system_load.tasks[0].total_runtime = 0;
system_load.tasks[0].curr_start_time = 0;
system_load.tasks[0].tcb = sched_gettcb(0);
system_load.tasks[0].valid = true;
system_load.total_count++;
system_load.total_count = 0;
/* initialize init thread statically */
system_load.tasks[1].start_time = now;
system_load.tasks[1].total_runtime = 0;
system_load.tasks[1].curr_start_time = 0;
system_load.tasks[1].tcb = sched_gettcb(1);
system_load.tasks[1].valid = true;
/* count init thread */
system_load.total_count++;
// }
uint64_t now = hrt_absolute_time();
/* initialize idle thread statically */
system_load.tasks[0].start_time = now;
system_load.tasks[0].total_runtime = 0;
system_load.tasks[0].curr_start_time = 0;
system_load.tasks[0].tcb = sched_gettcb(0);
system_load.tasks[0].valid = true;
system_load.total_count++;
/* initialize init thread statically */
system_load.tasks[1].start_time = now;
system_load.tasks[1].total_runtime = 0;
system_load.tasks[1].curr_start_time = 0;
system_load.tasks[1].tcb = sched_gettcb(1);
system_load.tasks[1].valid = true;
/* count init thread */
system_load.total_count++;
// }
}
void sched_note_start(FAR _TCB *tcb )
void sched_note_start(FAR _TCB *tcb)
{
/* search first free slot */
int i;
for (i = 1; i < CONFIG_MAX_TASKS; i++)
{
if (!system_load.tasks[i].valid)
{
for (i = 1; i < CONFIG_MAX_TASKS; i++) {
if (!system_load.tasks[i].valid) {
/* slot is available */
system_load.tasks[i].start_time = hrt_absolute_time();
system_load.tasks[i].total_runtime = 0;
@ -128,13 +128,12 @@ void sched_note_start(FAR _TCB *tcb )
}
}
void sched_note_stop(FAR _TCB *tcb )
void sched_note_stop(FAR _TCB *tcb)
{
int i;
for (i = 1; i < CONFIG_MAX_TASKS; i++)
{
if (system_load.tasks[i].tcb->pid == tcb->pid)
{
for (i = 1; i < CONFIG_MAX_TASKS; i++) {
if (system_load.tasks[i].tcb->pid == tcb->pid) {
/* mark slot as fee */
system_load.tasks[i].valid = false;
system_load.tasks[i].total_runtime = 0;
@ -152,26 +151,23 @@ void sched_note_switch(FAR _TCB *pFromTcb, FAR _TCB *pToTcb)
/* Kind of inefficient: find both tasks and update times */
uint8_t both_found = 0;
for (int i = 0; i < CONFIG_MAX_TASKS; i++)
{
for (int i = 0; i < CONFIG_MAX_TASKS; i++) {
/* Task ending its current scheduling run */
if (system_load.tasks[i].tcb->pid == pFromTcb->pid)
{
if (system_load.tasks[i].tcb->pid == pFromTcb->pid) {
//if (system_load.tasks[i].curr_start_time != 0)
{
system_load.tasks[i].total_runtime += new_time - system_load.tasks[i].curr_start_time;
}
both_found++;
}
else if (system_load.tasks[i].tcb->pid == pToTcb->pid)
{
} else if (system_load.tasks[i].tcb->pid == pToTcb->pid) {
system_load.tasks[i].curr_start_time = new_time;
both_found++;
}
/* Do only iterate as long as needed */
if (both_found == 2)
{
if (both_found == 2) {
break;
}
}

16
apps/systemlib/err.c
View File

@ -79,8 +79,10 @@ warnerr_core(int errcode, const char *fmt, va_list args)
/* convenience as many parts of NuttX use negative errno */
if (errcode < 0)
errcode = -errcode;
if (errcode < NOCODE)
fprintf(stderr, ": %s", strerror(errcode));
fprintf(stderr, "\n");
#elif CONFIG_ARCH_LOWPUTC
lib_lowprintf("%s: ", getprogname());
@ -89,8 +91,10 @@ warnerr_core(int errcode, const char *fmt, va_list args)
/* convenience as many parts of NuttX use negative errno */
if (errcode < 0)
errcode = -errcode;
if (errcode < NOCODE)
lib_lowprintf(": %s", strerror(errcode));
lib_lowprintf("\n");
#endif
}
@ -144,7 +148,7 @@ verrx(int exitcode, const char *fmt, va_list args)
}
void
warn(const char *fmt, ...)
warn(const char *fmt, ...)
{
va_list args;
@ -153,13 +157,13 @@ warn(const char *fmt, ...)
}
void
vwarn(const char *fmt, va_list args)
vwarn(const char *fmt, va_list args)
{
warnerr_core(errno, fmt, args);
}
void
warnc(int errcode, const char *fmt, ...)
warnc(int errcode, const char *fmt, ...)
{
va_list args;
@ -168,13 +172,13 @@ warnc(int errcode, const char *fmt, ...)
}
void
vwarnc(int errcode, const char *fmt, va_list args)
vwarnc(int errcode, const char *fmt, va_list args)
{
warnerr_core(errcode, fmt, args);
}
void
warnx(const char *fmt, ...)
warnx(const char *fmt, ...)
{
va_list args;
@ -183,7 +187,7 @@ warnx(const char *fmt, ...)
}
void
vwarnx(const char *fmt, va_list args)
vwarnx(const char *fmt, va_list args)
{
warnerr_core(NOCODE, fmt, args);
}

38
apps/systemlib/err.h
View File

@ -36,30 +36,30 @@
*
* Simple error/warning functions, heavily inspired by the BSD functions of
* the same names.
*
*
* The err() and warn() family of functions display a formatted error
* message on the standard error output. In all cases, the last
* component of the program name, a colon character, and a space are
* output. If the fmt argument is not NULL, the printf(3)-like formatted
* error message is output. The output is terminated by a newline
* character.
*
*
* The err(), errc(), verr(), verrc(), warn(), warnc(), vwarn(), and
* vwarnc() functions append an error message obtained from strerror(3)
* based on a supplied error code value or the global variable errno,
* preceded by another colon and space unless the fmt argument is NULL.
*
*
* In the case of the errc(), verrc(), warnc(), and vwarnc() functions,
* the code argument is used to look up the error message.
*
*
* The err(), verr(), warn(), and vwarn() functions use the global
* variable errno to look up the error message.
*
*
* The errx() and warnx() functions do not append an error message.
*
*
* The err(), verr(), errc(), verrc(), errx(), and verrx() functions do
* not return, but exit with the value of the argument eval.
*
*
*/
#ifndef _SYSTEMLIB_ERR_H
@ -71,18 +71,18 @@ __BEGIN_DECLS
__EXPORT const char *getprogname(void);
__EXPORT void err(int eval, const char *fmt, ...) __attribute__((noreturn,format(printf,2, 3)));
__EXPORT void verr(int eval, const char *fmt, va_list) __attribute__((noreturn,format(printf,2, 0)));
__EXPORT void errc(int eval, int code, const char *fmt, ...) __attribute__((noreturn,format(printf,3, 4)));
__EXPORT void verrc(int eval, int code, const char *fmt, va_list) __attribute__((noreturn,format(printf,3, 0)));
__EXPORT void errx(int eval, const char *fmt, ...) __attribute__((noreturn,format(printf,2, 3)));
__EXPORT void verrx(int eval, const char *fmt, va_list) __attribute__((noreturn,format(printf,2, 0)));
__EXPORT void warn(const char *fmt, ...) __attribute__((format(printf,1, 2)));
__EXPORT void vwarn(const char *fmt, va_list) __attribute__((format(printf,1, 0)));
__EXPORT void warnc(int code, const char *fmt, ...) __attribute__((format(printf,2, 3)));
__EXPORT void vwarnc(int code, const char *fmt, va_list) __attribute__((format(printf,2, 0)));
__EXPORT void warnx(const char *fmt, ...) __attribute__((format(printf,1, 2)));
__EXPORT void vwarnx(const char *fmt, va_list) __attribute__((format(printf,1, 0)));
__EXPORT void err(int eval, const char *fmt, ...) __attribute__((noreturn, format(printf, 2, 3)));
__EXPORT void verr(int eval, const char *fmt, va_list) __attribute__((noreturn, format(printf, 2, 0)));
__EXPORT void errc(int eval, int code, const char *fmt, ...) __attribute__((noreturn, format(printf, 3, 4)));
__EXPORT void verrc(int eval, int code, const char *fmt, va_list) __attribute__((noreturn, format(printf, 3, 0)));
__EXPORT void errx(int eval, const char *fmt, ...) __attribute__((noreturn, format(printf, 2, 3)));
__EXPORT void verrx(int eval, const char *fmt, va_list) __attribute__((noreturn, format(printf, 2, 0)));
__EXPORT void warn(const char *fmt, ...) __attribute__((format(printf, 1, 2)));
__EXPORT void vwarn(const char *fmt, va_list) __attribute__((format(printf, 1, 0)));
__EXPORT void warnc(int code, const char *fmt, ...) __attribute__((format(printf, 2, 3)));
__EXPORT void vwarnc(int code, const char *fmt, va_list) __attribute__((format(printf, 2, 0)));
__EXPORT void warnx(const char *fmt, ...) __attribute__((format(printf, 1, 2)));
__EXPORT void vwarnx(const char *fmt, va_list) __attribute__((format(printf, 1, 0)));
__END_DECLS

120
apps/systemlib/geo/geo.c
View File

@ -89,7 +89,7 @@ __EXPORT float get_bearing_to_next_waypoint(double lat_now, double lon_now, doub
__EXPORT crosstrack_error_s get_distance_to_line(double lat_now, double lon_now, double lat_start, double lon_start, double lat_end, double lon_end)
{
// This function returns the distance to the nearest point on the track line. Distance is positive if current
// position is right of the track and negative if left of the track as seen from a point on the track line
// position is right of the track and negative if left of the track as seen from a point on the track line
// headed towards the end point.
crosstrack_error_s return_var;
@ -97,43 +97,46 @@ __EXPORT crosstrack_error_s get_distance_to_line(double lat_now, double lon_now,
float bearing_end;
float bearing_track;
float bearing_diff;
return_var.error = true; // Set error flag, cleared when valid result calculated.
return_var.past_end = false;
return_var.distance = 0.0f;
return_var.bearing = 0.0f;
// Return error if arguments are bad
if(lat_now == 0.0d || lon_now == 0.0d || lat_start == 0.0d || lon_start == 0.0d || lat_end == 0.0d || lon_end == 0.0d) return return_var;
if (lat_now == 0.0d || lon_now == 0.0d || lat_start == 0.0d || lon_start == 0.0d || lat_end == 0.0d || lon_end == 0.0d) return return_var;
bearing_end = get_bearing_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
bearing_track = get_bearing_to_next_waypoint(lat_start, lon_start, lat_end, lon_end);
bearing_diff = bearing_track - bearing_end;
bearing_diff = _wrapPI(bearing_diff);
// Return past_end = true if past end point of line
if(bearing_diff > M_PI_2_F || bearing_diff < -M_PI_2_F) {
if (bearing_diff > M_PI_2_F || bearing_diff < -M_PI_2_F) {
return_var.past_end = true;
return_var.error = false;
return return_var;
}
dist_to_end = get_distance_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
return_var.distance = (dist_to_end)*sin(bearing_diff);
if(sin(bearing_diff) >=0 ) {
return_var.distance = (dist_to_end) * sin(bearing_diff);
if (sin(bearing_diff) >= 0) {
return_var.bearing = _wrapPI(bearing_track - M_PI_2_F);
} else {
return_var.bearing = _wrapPI(bearing_track + M_PI_2_F);
}
return_var.error = false;
return return_var;
}
__EXPORT crosstrack_error_s get_distance_to_arc(double lat_now, double lon_now, double lat_center, double lon_center,
float radius, float arc_start_bearing, float arc_sweep)
__EXPORT crosstrack_error_s get_distance_to_arc(double lat_now, double lon_now, double lat_center, double lon_center,
float radius, float arc_start_bearing, float arc_sweep)
{
// This function returns the distance to the nearest point on the track arc. Distance is positive if current
// position is right of the arc and negative if left of the arc as seen from the closest point on the arc and
@ -146,68 +149,76 @@ __EXPORT crosstrack_error_s get_distance_to_arc(double lat_now, double lon_now,
float bearing_sector_end;
float bearing_now = get_bearing_to_next_waypoint(lat_now, lon_now, lat_center, lon_center);
bool in_sector;
return_var.error = true; // Set error flag, cleared when valid result calculated.
return_var.past_end = false;
return_var.distance = 0.0f;
return_var.bearing = 0.0f;
// Return error if arguments are bad
if(lat_now == 0.0d || lon_now == 0.0d || lat_center == 0.0d || lon_center == 0.0d || radius == 0.0d) return return_var;
if(arc_sweep >= 0) {
if (lat_now == 0.0d || lon_now == 0.0d || lat_center == 0.0d || lon_center == 0.0d || radius == 0.0d) return return_var;
if (arc_sweep >= 0) {
bearing_sector_start = arc_start_bearing;
bearing_sector_end = arc_start_bearing + arc_sweep;
if(bearing_sector_end > 2.0f*M_PI_F) bearing_sector_end -= M_TWOPI_F;
if (bearing_sector_end > 2.0f * M_PI_F) bearing_sector_end -= M_TWOPI_F;
} else {
bearing_sector_end = arc_start_bearing;
bearing_sector_start = arc_start_bearing - arc_sweep;
if(bearing_sector_start < 0.0) bearing_sector_start += M_TWOPI_F;
if (bearing_sector_start < 0.0) bearing_sector_start += M_TWOPI_F;
}
in_sector = false;
// Case where sector does not span zero
if(bearing_sector_end >= bearing_sector_start && bearing_now >= bearing_sector_start && bearing_now <= bearing_sector_end) in_sector = true;
if (bearing_sector_end >= bearing_sector_start && bearing_now >= bearing_sector_start && bearing_now <= bearing_sector_end) in_sector = true;
// Case where sector does span zero
if(bearing_sector_end < bearing_sector_start && ( bearing_now > bearing_sector_start || bearing_now < bearing_sector_end ) ) in_sector = true;
if (bearing_sector_end < bearing_sector_start && (bearing_now > bearing_sector_start || bearing_now < bearing_sector_end)) in_sector = true;
// If in the sector then calculate distance and bearing to closest point
if(in_sector) {
if (in_sector) {
return_var.past_end = false;
float dist_to_center = get_distance_to_next_waypoint(lat_now, lon_now, lat_center, lon_center);
if(dist_to_center <= radius) {
if (dist_to_center <= radius) {
return_var.distance = radius - dist_to_center;
return_var.bearing = bearing_now + M_PI_F;
} else {
return_var.distance = dist_to_center - radius;
return_var.bearing = bearing_now;
}
// If out of the sector then calculate dist and bearing to start or end point
// If out of the sector then calculate dist and bearing to start or end point
} else {
// Use the approximation that 111,111 meters in the y direction is 1 degree (of latitude)
// and 111,111 * cos(latitude) meters in the x direction is 1 degree (of longitude) to
// calculate the position of the start and end points. We should not be doing this often
// as this function generally will not be called repeatedly when we are out of the sector.
// TO DO - this is messed up and won't compile
// Use the approximation that 111,111 meters in the y direction is 1 degree (of latitude)
// and 111,111 * cos(latitude) meters in the x direction is 1 degree (of longitude) to
// calculate the position of the start and end points. We should not be doing this often
// as this function generally will not be called repeatedly when we are out of the sector.
// TO DO - this is messed up and won't compile
float start_disp_x = radius * sin(arc_start_bearing);
float start_disp_y = radius * cos(arc_start_bearing);
float end_disp_x = radius * sin(_wrapPI(arc_start_bearing+arc_sweep));
float end_disp_y = radius * cos(_wrapPI(arc_start_bearing+arc_sweep));
float lon_start = lon_now + start_disp_x/111111.0d;
float lat_start = lat_now + start_disp_y*cos(lat_now)/111111.0d;
float lon_end = lon_now + end_disp_x/111111.0d;
float lat_end = lat_now + end_disp_y*cos(lat_now)/111111.0d;
float end_disp_x = radius * sin(_wrapPI(arc_start_bearing + arc_sweep));
float end_disp_y = radius * cos(_wrapPI(arc_start_bearing + arc_sweep));
float lon_start = lon_now + start_disp_x / 111111.0d;
float lat_start = lat_now + start_disp_y * cos(lat_now) / 111111.0d;
float lon_end = lon_now + end_disp_x / 111111.0d;
float lat_end = lat_now + end_disp_y * cos(lat_now) / 111111.0d;
float dist_to_start = get_distance_to_next_waypoint(lat_now, lon_now, lat_start, lon_start);
float dist_to_end = get_distance_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
if(dist_to_start < dist_to_end) {
if (dist_to_start < dist_to_end) {
return_var.distance = dist_to_start;
return_var.bearing = get_bearing_to_next_waypoint(lat_now, lon_now, lat_start, lon_start);
} else {
return_var.past_end = true;
return_var.distance = dist_to_end;
@ -215,10 +226,10 @@ __EXPORT crosstrack_error_s get_distance_to_arc(double lat_now, double lon_now,
}
}
return_var.bearing = _wrapPI(return_var.bearing);
return_var.error = false;
return return_var;
return return_var;
}
float _wrapPI(float bearing)
@ -227,21 +238,25 @@ float _wrapPI(float bearing)
while (bearing > M_PI_F) {
bearing = bearing - M_TWOPI_F;
}
while (bearing <= -M_PI_F) {
bearing = bearing + M_TWOPI_F;
}
return bearing;
}
float _wrap2PI(float bearing)
{
while (bearing >= M_TWOPI_F) {
bearing = bearing - M_TWOPI_F;
}
while (bearing < 0.0f) {
bearing = bearing + M_TWOPI_F;
}
return bearing;
}
@ -251,23 +266,26 @@ float _wrap180(float bearing)
while (bearing > 180.0f) {
bearing = bearing - 360.0f;
}
while (bearing <= -180.0f) {
bearing = bearing + 360.0f;
}
return bearing;
}
float _wrap360(float bearing)
{
while (bearing >= 360.0f) {
bearing = bearing - 360.0f;
}
while (bearing < 0.0f) {
bearing = bearing + 360.0f;
}
return bearing;
}

14
apps/systemlib/geo/geo.h
View File

@ -44,8 +44,8 @@
* @author Lorenz Meier <lm@inf.ethz.ch>
* Additional functions - @author Doug Weibel <douglas.weibel@colorado.edu>
*/
#include <stdbool.h>
typedef struct {
@ -59,14 +59,14 @@ __EXPORT float get_distance_to_next_waypoint(double lat_now, double lon_now, dou
__EXPORT float get_bearing_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next);
//
//
__EXPORT crosstrack_error_s get_distance_to_line(double lat_now, double lon_now, double lat_start, double lon_start, double lat_end, double lon_end);
__EXPORT crosstrack_error_s get_distance_to_arc(double lat_now, double lon_now, double lat_center, double lon_center,
float radius, float arc_start_bearing, float arc_sweep);
__EXPORT crosstrack_error_s get_distance_to_arc(double lat_now, double lon_now, double lat_center, double lon_center,
float radius, float arc_start_bearing, float arc_sweep);
float _wrap180(float bearing);
float _wrap360(float bearing);
float _wrap360(float bearing);
float _wrapPI(float bearing);
float _wrap2PI(float bearing);

2
apps/systemlib/mixer/mixer.cpp
View File

@ -63,7 +63,7 @@ float
Mixer::get_control(uint8_t group, uint8_t index)
{
float value;
_control_cb(_cb_handle, group, index, value);
return value;

20
apps/systemlib/mixer/mixer_group.cpp
View File

@ -224,29 +224,35 @@ mixer_load_multirotor(Mixer::ControlCallback control_cb, uintptr_t cb_handle, co
if (!strcmp(geomname, "4+")) {
geometry = MultirotorMixer::QUAD_PLUS;
} else if (!strcmp(geomname, "4x")) {
geometry = MultirotorMixer::QUAD_X;
} else if (!strcmp(geomname, "6+")) {
geometry = MultirotorMixer::HEX_PLUS;
} else if (!strcmp(geomname, "6x")) {
geometry = MultirotorMixer::HEX_X;
} else if (!strcmp(geomname, "8+")) {
geometry = MultirotorMixer::OCTA_PLUS;
} else if (!strcmp(geomname, "8x")) {
geometry = MultirotorMixer::OCTA_X;
} else {
debug("unrecognised geometry '%s'", geomname);
return nullptr;
}
return new MultirotorMixer(
control_cb,
cb_handle,
geometry,
s[0] / 10000.0f,
s[1] / 10000.0f,
s[2] / 10000.0f,
s[3] / 10000.0f);
control_cb,
cb_handle,
geometry,
s[0] / 10000.0f,
s[1] / 10000.0f,
s[2] / 10000.0f,
s[3] / 10000.0f);
}
int

6
apps/systemlib/mixer/mixer_multirotor.cpp
View File

@ -57,7 +57,7 @@
#define CW (-1.0f)
#define CCW (1.0f)
namespace
namespace
{
/*
@ -167,17 +167,21 @@ MultirotorMixer::mix(float *outputs, unsigned space)
pitch * _rotors[i].pitch_scale +
yaw * _rotors[i].yaw_scale +
thrust;
if (tmp > max)
max = tmp;
outputs[i] = tmp;
}
/* scale values into the -1.0 - 1.0 range */
if (max > 1.0f) {
fixup_scale = 2.0f / max;
} else {
fixup_scale = 2.0f;
}
for (unsigned i = 0; i < _rotor_count; i++)
outputs[i] = -1.0f + (outputs[i] * fixup_scale);

8
apps/systemlib/param/param.c
View File

@ -189,6 +189,7 @@ param_notify_changes(void)
*/
if (param_topic == -1) {
param_topic = orb_advertise(ORB_ID(parameter_update), &pup);
} else {
orb_publish(ORB_ID(parameter_update), param_topic, &pup);
}
@ -455,6 +456,7 @@ param_reset(param_t param)
utarray_erase(param_values, pos, 1);
}
}
param_unlock();
if (s != NULL)
@ -560,8 +562,7 @@ out:
return result;
}
struct param_import_state
{
struct param_import_state {
bool mark_saved;
};
@ -689,9 +690,10 @@ param_import_internal(int fd, bool mark_saved)
do {
result = bson_decoder_next(&decoder);
} while(result > 0);
} while (result > 0);
out:
if (result < 0)
debug("BSON error decoding parameters");

28
apps/systemlib/pid/pid.c
View File

@ -43,7 +43,7 @@
#include <math.h>
__EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax,
float limit, uint8_t mode)
float limit, uint8_t mode)
{
pid->kp = kp;
pid->ki = ki;
@ -65,30 +65,35 @@ __EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float
if (isfinite(kp)) {
pid->kp = kp;
} else {
ret = 1;
}
if (isfinite(ki)) {
pid->ki = ki;
} else {
ret = 1;
}
if (isfinite(kd)) {
pid->kd = kd;
} else {
ret = 1;
}
if (isfinite(intmax)) {
pid->intmax = intmax;
} else {
ret = 1;
}
if (isfinite(limit)) {
pid->limit = limit;
} else {
ret = 1;
}
@ -121,17 +126,16 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo
goto start
*/
if (!isfinite(sp) || !isfinite(val) || !isfinite(val_dot) || !isfinite(dt))
{
if (!isfinite(sp) || !isfinite(val) || !isfinite(val_dot) || !isfinite(dt)) {
return pid->last_output;
}
float i, d;
pid->sp = sp;
// Calculated current error value
float error = pid->sp - val;
if (isfinite(error)) { // Why is this necessary? DEW
pid->error_previous = error;
}
@ -140,30 +144,36 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo
if (pid->mode == PID_MODE_DERIVATIV_CALC) {
d = (error - pid->error_previous) / dt;
} else if (pid->mode == PID_MODE_DERIVATIV_SET) {
d = -val_dot;
} else {
d = 0.0f;
}
// Calculate the error integral and check for saturation
i = pid->integral + (error * dt);
if( fabs((error * pid->kp) + (i * pid->ki) + (d * pid->kd)) > pid->limit ||
fabs(i) > pid->intmax )
{
if (fabs((error * pid->kp) + (i * pid->ki) + (d * pid->kd)) > pid->limit ||
fabs(i) > pid->intmax) {
i = pid->integral; // If saturated then do not update integral value
pid->saturated = 1;
} else {
if (!isfinite(i)) {
i = 0;
}
pid->integral = i;
pid->saturated = 0;
}
// Calculate the output. Limit output magnitude to pid->limit
float output = (pid->error_previous * pid->kp) + (i * pid->ki) + (d * pid->kd);
if (output > pid->limit) output = pid->limit;
if (output < -pid->limit) output = -pid->limit;
if (isfinite(output)) {

24
apps/systemlib/ppm_decode.c
View File

@ -30,7 +30,7 @@
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file ppm_decode.c
*
@ -51,7 +51,7 @@
*
* The PPM decoder works as follows.
*
* Initially, the decoder waits in the UNSYNCH state for two edges
* Initially, the decoder waits in the UNSYNCH state for two edges
* separated by PPM_MIN_START. Once the second edge is detected,
* the decoder moves to the ARM state.
*
@ -64,9 +64,9 @@
*
* The ACTIVE state expects an edge within PPM_MAX_PULSE_WIDTH, and when
* received calculates the time from the previous mark and records
* this time as the value for the next channel.
* this time as the value for the next channel.
*
* If at any time waiting for an edge, the delay from the previous edge
* If at any time waiting for an edge, the delay from the previous edge
* exceeds PPM_MIN_START the frame is deemed to have ended and the recorded
* values are advertised to clients.
*/
@ -132,21 +132,23 @@ ppm_input_decode(bool reset, unsigned count)
/* how long since the last edge? */
width = count - ppm.last_edge;
if (count < ppm.last_edge)
width += ppm.count_max; /* handle wrapped count */
ppm.last_edge = count;
/*
/*
* If this looks like a start pulse, then push the last set of values
* and reset the state machine.
*
* Note that this is not a "high performance" design; it implies a whole
* frame of latency between the pulses being received and their being
* frame of latency between the pulses being received and their being
* considered valid.
*/
if (width >= PPM_MIN_START) {
/*
/*
* If the number of channels changes unexpectedly, we don't want
* to just immediately jump on the new count as it may be a result
* of noise or dropped edges. Instead, take a few frames to settle.
@ -169,11 +171,13 @@ ppm_input_decode(bool reset, unsigned count)
ppm_decoded_channels = new_channel_count;
new_channel_count = 0;
}
} else {
/* frame channel count matches expected, let's use it */
if (ppm.next_channel > PPM_MIN_CHANNELS) {
for (i = 0; i < ppm.next_channel; i++)
ppm_buffer[i] = ppm_temp_buffer[i];
ppm_last_valid_decode = hrt_absolute_time();
}
}
@ -193,10 +197,11 @@ ppm_input_decode(bool reset, unsigned count)
return;
case ARM:
/* we expect a pulse giving us the first mark */
if (width > PPM_MAX_PULSE_WIDTH)
goto error; /* pulse was too long */
/* record the mark timing, expect an inactive edge */
ppm.last_mark = count;
ppm.phase = INACTIVE;
@ -211,6 +216,7 @@ ppm_input_decode(bool reset, unsigned count)
return;
case ACTIVE:
/* we expect a well-formed pulse */
if (width > PPM_MAX_PULSE_WIDTH)
goto error; /* pulse was too long */
@ -228,7 +234,7 @@ ppm_input_decode(bool reset, unsigned count)
ppm_temp_buffer[ppm.next_channel++] = interval;
ppm.phase = INACTIVE;
return;
return;
}

2
apps/systemlib/ppm_decode.h
View File

@ -30,7 +30,7 @@
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file ppm_decode.h
*

12
apps/systemlib/systemlib.c
View File

@ -131,7 +131,7 @@ int task_spawn(const char *name, int scheduler, int priority, int stack_size, ma
pid = task_create(name, priority, stack_size, entry, argv);
if (pid > 0) {
/* configure the scheduler */
struct sched_param param;
@ -140,6 +140,7 @@ int task_spawn(const char *name, int scheduler, int priority, int stack_size, ma
/* XXX do any other private task accounting here before the task starts */
}
sched_unlock();
return pid;
@ -157,15 +158,18 @@ int fmu_get_board_info(struct fmu_board_info_s *info)
statres = stat("/dev/bma180", &sb);
if (statres == OK) {
/* BMA180 indicates a v1.5-v1.6 board */
strcpy(info->board_name, "FMU v1.6");
info->board_version = 16;
/* BMA180 indicates a v1.5-v1.6 board */
strcpy(info->board_name, "FMU v1.6");
info->board_version = 16;
} else {
statres = stat("/dev/accel", &sb);
if (statres == OK) {
/* MPU-6000 indicates a v1.7+ board */
strcpy(info->board_name, "FMU v1.7");
info->board_version = 17;
} else {
/* If no BMA and no MPU is present, it is a v1.3 board */
strcpy(info->board_name, "FMU v1.3");