forked from Archive/PX4-Autopilot
Merge branch 'master' of github.com:PX4/Firmware into fixedwing_io_mixing_adc
This commit is contained in:
Lorenz Meier
commit
359989a2eb
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@ -112,6 +112,9 @@ endef
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$(foreach BUILTIN, $(CONFIGURED_APPS), $(eval $(call ADD_BUILTIN,$(BUILTIN))))
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# EXTERNAL_APPS is used to add out of tree apps to the build
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INSTALLED_APPS += $(EXTERNAL_APPS)
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# The external/ directory may also be added to the INSTALLED_APPS. But there
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# is no external/ directory in the repository. Rather, this directory may be
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# provided by the user (possibly as a symbolic link) to add libraries and
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@ -103,6 +103,9 @@ ORB_DECLARE(output_pwm);
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/** disarm all servo outputs (stop generating pulses) */
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#define PWM_SERVO_DISARM _IOC(_PWM_SERVO_BASE, 1)
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/** set update rate in Hz */
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#define PWM_SERVO_SET_UPDATE_RATE _IOC(_PWM_SERVO_BASE, 2)
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/** set a single servo to a specific value */
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#define PWM_SERVO_SET(_servo) _IOC(_PWM_SERVO_BASE, 0x20 + _servo)
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@ -510,6 +510,10 @@ HIL::pwm_ioctl(file *filp, int cmd, unsigned long arg)
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// up_pwm_servo_arm(false);
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break;
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case PWM_SERVO_SET_UPDATE_RATE:
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g_hil->set_pwm_rate(arg);
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break;
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case PWM_SERVO_SET(2):
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case PWM_SERVO_SET(3):
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if (_mode != MODE_4PWM) {
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@ -509,6 +509,10 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
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up_pwm_servo_arm(false);
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break;
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case PWM_SERVO_SET_UPDATE_RATE:
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set_pwm_rate(arg);
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break;
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case PWM_SERVO_SET(2):
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case PWM_SERVO_SET(3):
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if (_mode != MODE_4PWM) {
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@ -709,6 +709,11 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
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_send_needed = true;
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break;
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case PWM_SERVO_SET_UPDATE_RATE:
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// not supported yet
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ret = -EINVAL;
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break;
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case PWM_SERVO_SET(0) ... PWM_SERVO_SET(_max_actuators - 1):
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/* fake an update to the selected 'servo' channel */
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@ -40,6 +40,7 @@
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*/
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#include <string.h>
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#include <stdlib.h>
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#include "mavlink_log.h"
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@ -51,7 +52,7 @@ void mavlink_logbuffer_init(struct mavlink_logbuffer *lb, int size) {
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}
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int mavlink_logbuffer_is_full(struct mavlink_logbuffer *lb) {
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return lb->count == lb->size;
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return lb->count == (int)lb->size;
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}
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int mavlink_logbuffer_is_empty(struct mavlink_logbuffer *lb) {
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@ -77,4 +78,4 @@ int mavlink_logbuffer_read(struct mavlink_logbuffer *lb, struct mavlink_logmessa
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} else {
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return 1;
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}
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}
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}
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@ -65,8 +65,8 @@ struct vehicle_gps_position_s
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uint16_t counter_pos_valid; /**< is only increased when new lat/lon/alt information was added */
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uint16_t eph; /**< GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 //LOGME */
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uint16_t epv; /**< GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 */
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float s_variance; // XXX testing
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float p_variance; // XXX testing
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float s_variance; /**< speed accuracy estimate cm/s */
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float p_variance; /**< position accuracy estimate cm */
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uint16_t vel; /**< GPS ground speed (m/s * 100). If unknown, set to: 65535 */
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float vel_n; /**< GPS ground speed in m/s */
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float vel_e; /**< GPS ground speed in m/s */
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@ -84,7 +84,6 @@ struct vehicle_gps_position_s
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/* flags */
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float vel_ned_valid; /**< Flag to indicate if NED speed is valid */
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};
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/**
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@ -246,18 +246,18 @@ CONFIG_USART6_SERIAL_CONSOLE=n
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#Mavlink messages can be bigger than 128
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CONFIG_USART1_TXBUFSIZE=512
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CONFIG_USART2_TXBUFSIZE=128
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CONFIG_USART3_TXBUFSIZE=128
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CONFIG_UART4_TXBUFSIZE=128
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CONFIG_UART5_TXBUFSIZE=64
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CONFIG_USART2_TXBUFSIZE=256
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CONFIG_USART3_TXBUFSIZE=256
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CONFIG_UART4_TXBUFSIZE=256
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CONFIG_UART5_TXBUFSIZE=256
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CONFIG_USART6_TXBUFSIZE=128
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CONFIG_USART1_RXBUFSIZE=512
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CONFIG_USART2_RXBUFSIZE=128
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CONFIG_USART3_RXBUFSIZE=128
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CONFIG_UART4_RXBUFSIZE=128
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CONFIG_UART5_RXBUFSIZE=128
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CONFIG_USART6_RXBUFSIZE=128
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CONFIG_USART2_RXBUFSIZE=256
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CONFIG_USART3_RXBUFSIZE=256
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CONFIG_UART4_RXBUFSIZE=256
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CONFIG_UART5_RXBUFSIZE=256
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CONFIG_USART6_RXBUFSIZE=256
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CONFIG_USART1_BAUD=57600
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CONFIG_USART2_BAUD=115200
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@ -660,8 +660,10 @@ static int uart_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
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int ret = dev->ops->ioctl(filep, cmd, arg);
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/* If the low-level handler didn't handle the call, see if we can handle it here */
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/*
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* The device ioctl() handler returns -ENOTTY when it doesn't know
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* how to handle the command. Check if we can handle it here.
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*/
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if (ret == -ENOTTY)
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{
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switch (cmd)
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@ -133,6 +133,7 @@ EXTERN void perror(FAR const char *s);
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EXTERN int ungetc(int c, FAR FILE *stream);
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EXTERN int vprintf(FAR const char *format, va_list ap);
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EXTERN int vfprintf(FAR FILE *stream, const char *format, va_list ap);
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EXTERN int vdprintf(FAR int fd, const char *format, va_list ap);
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EXTERN int vsprintf(FAR char *buf, const char *format, va_list ap);
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EXTERN int avsprintf(FAR char **ptr, const char *fmt, va_list ap);
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EXTERN int vsnprintf(FAR char *buf, size_t size, const char *format, va_list ap);
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@ -140,6 +140,7 @@ extern int lib_vsprintf(FAR struct lib_outstream_s *obj,
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/* Defined lib_rawprintf.c */
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extern int lib_rawvprintf(const char *src, va_list ap);
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extern int lib_rawvdprintf(int fd, const char *fmt, va_list ap);
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/* Defined lib_lowprintf.c */
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@ -50,7 +50,7 @@ CSRCS += lib_fopen.c lib_fclose.c lib_fread.c lib_libfread.c lib_fseek.c \
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lib_gets.c lib_fwrite.c lib_libfwrite.c lib_fflush.c \
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lib_libflushall.c lib_libfflush.c lib_rdflush.c lib_wrflush.c \
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lib_fputc.c lib_puts.c lib_fputs.c lib_ungetc.c lib_vprintf.c \
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lib_fprintf.c lib_vfprintf.c lib_stdinstream.c lib_stdoutstream.c \
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lib_fprintf.c lib_vfprintf.c lib_vdprintf.c lib_stdinstream.c lib_stdoutstream.c \
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lib_perror.c
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endif
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endif
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@ -149,3 +149,18 @@ int lib_rawprintf(const char *fmt, ...)
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return ret;
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}
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/****************************************************************************
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* Name: lib_rawvdprintf
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****************************************************************************/
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int lib_rawvdprintf(int fd, const char *fmt, va_list ap)
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{
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/* Wrap the stdout in a stream object and let lib_vsprintf
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* do the work.
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*/
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struct lib_rawoutstream_s rawoutstream;
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lib_rawoutstream(&rawoutstream, fd);
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return lib_vsprintf(&rawoutstream.public, fmt, ap);
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}
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@ -0,0 +1,81 @@
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/****************************************************************************
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* lib/stdio/lib_vdprintf.c
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*
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* Copyright (C) 2007-2009, 2011 Andrew Tridgell. All rights reserved.
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* Author: Andrew Tridgell <andrew@tridgell.net>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name NuttX nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <stdio.h>
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#include "lib_internal.h"
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/****************************************************************************
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* Private Type Declarations
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****************************************************************************/
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/****************************************************************************
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* Private Function Prototypes
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****************************************************************************/
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/****************************************************************************
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* Global Constant Data
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****************************************************************************/
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/****************************************************************************
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* Global Variables
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****************************************************************************/
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/****************************************************************************
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* Private Constant Data
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****************************************************************************/
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/****************************************************************************
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* Private Variables
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****************************************************************************/
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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int vdprintf(int fd, FAR const char *fmt, va_list ap)
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{
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return lib_rawvdprintf(fd, fmt, ap);
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}
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@ -86,8 +86,12 @@ dodep ()
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fi
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done
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if [ -z "$fullpath" ]; then
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echo "# ERROR: No readable file for $1 found at any location"
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show_usage
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if [ -r $1 ]; then
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fullpath=$1
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else
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echo "# ERROR: No readable file for $1 found at any location"
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show_usage
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fi
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fi
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fi
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