forked from Archive/PX4-Autopilot
Merge remote-tracking branch 'upstream/master' into io
This commit is contained in:
Julian Oes
commit
359cc4bb86
|
|
@ -58,6 +58,7 @@
|
|||
#include <uORB/topics/debug_key_value.h>
|
||||
#include <uORB/topics/sensor_combined.h>
|
||||
#include <uORB/topics/vehicle_attitude.h>
|
||||
#include <uORB/topics/vehicle_status.h>
|
||||
#include <uORB/topics/parameter_update.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
|
||||
|
|
@ -204,6 +205,8 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
|
|||
memset(&raw, 0, sizeof(raw));
|
||||
struct vehicle_attitude_s att;
|
||||
memset(&att, 0, sizeof(att));
|
||||
struct vehicle_status_s state;
|
||||
memset(&state, 0, sizeof(state));
|
||||
|
||||
uint64_t last_data = 0;
|
||||
uint64_t last_measurement = 0;
|
||||
|
|
@ -216,6 +219,9 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
|
|||
/* subscribe to param changes */
|
||||
int sub_params = orb_subscribe(ORB_ID(parameter_update));
|
||||
|
||||
/* subscribe to system state*/
|
||||
int sub_state = orb_subscribe(ORB_ID(vehicle_status));
|
||||
|
||||
/* advertise attitude */
|
||||
orb_advert_t pub_att = orb_advertise(ORB_ID(vehicle_attitude), &att);
|
||||
|
||||
|
|
@ -226,13 +232,15 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
|
|||
thread_running = true;
|
||||
|
||||
/* advertise debug value */
|
||||
struct debug_key_value_s dbg = { .key = "", .value = 0.0f };
|
||||
orb_advert_t pub_dbg = -1;
|
||||
// struct debug_key_value_s dbg = { .key = "", .value = 0.0f };
|
||||
// orb_advert_t pub_dbg = -1;
|
||||
|
||||
float sensor_update_hz[3] = {0.0f, 0.0f, 0.0f};
|
||||
// XXX write this out to perf regs
|
||||
|
||||
/* keep track of sensor updates */
|
||||
uint32_t sensor_last_count[3] = {0, 0, 0};
|
||||
uint64_t sensor_last_timestamp[3] = {0, 0, 0};
|
||||
float sensor_update_hz[3] = {0.0f, 0.0f, 0.0f};
|
||||
|
||||
struct attitude_estimator_ekf_params ekf_params;
|
||||
|
||||
|
|
@ -259,8 +267,12 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
|
|||
if (ret < 0) {
|
||||
/* XXX this is seriously bad - should be an emergency */
|
||||
} else if (ret == 0) {
|
||||
/* XXX this means no sensor data - should be critical or emergency */
|
||||
printf("[attitude estimator ekf] WARNING: Not getting sensor data - sensor app running?\n");
|
||||
/* check if we're in HIL - not getting sensor data is fine then */
|
||||
orb_copy(ORB_ID(vehicle_status), sub_state, &state);
|
||||
if (!state.flag_hil_enabled) {
|
||||
fprintf(stderr,
|
||||
"[att ekf] WARNING: Not getting sensors - sensor app running?\n");
|
||||
}
|
||||
} else {
|
||||
|
||||
/* only update parameters if they changed */
|
||||
|
|
@ -347,9 +359,6 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
|
|||
overloadcounter++;
|
||||
}
|
||||
|
||||
int32_t z_k_sizes = 9;
|
||||
// float u[4] = {0.0f, 0.0f, 0.0f, 0.0f};
|
||||
|
||||
static bool const_initialized = false;
|
||||
|
||||
/* initialize with good values once we have a reasonable dt estimate */
|
||||
|
|
@ -392,7 +401,7 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
|
|||
continue;
|
||||
}
|
||||
|
||||
uint64_t timing_diff = hrt_absolute_time() - timing_start;
|
||||
// uint64_t timing_diff = hrt_absolute_time() - timing_start;
|
||||
|
||||
// /* print rotation matrix every 200th time */
|
||||
if (printcounter % 200 == 0) {
|
||||
|
|
|
|||
|
|
@ -576,6 +576,8 @@ uint8_t update_state_machine_mode_request(int status_pub, struct vehicle_status_
|
|||
state_machine_publish(status_pub, current_status, mavlink_fd);
|
||||
publish_armed_status(current_status);
|
||||
printf("[commander] Enabling HIL, locking down all actuators for safety.\n\t(Arming the system will not activate them while in HIL mode)\n");
|
||||
} else if (current_status->state_machine != SYSTEM_STATE_STANDBY) {
|
||||
mavlink_log_critical(mavlink_fd, "[commander] REJECTING switch to HIL, not in standby.")
|
||||
}
|
||||
|
||||
/* NEVER actually switch off HIL without reboot */
|
||||
|
|
|
|||
|
|
@ -0,0 +1,42 @@
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|||
############################################################################
|
||||
#
|
||||
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# Interface driver for the PX4FMU board
|
||||
#
|
||||
|
||||
APPNAME = hil
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||||
PRIORITY = SCHED_PRIORITY_DEFAULT
|
||||
STACKSIZE = 2048
|
||||
|
||||
include $(APPDIR)/mk/app.mk
|
||||
|
|
@ -0,0 +1,855 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file hil.cpp
|
||||
*
|
||||
* Driver/configurator for the virtual HIL port.
|
||||
*
|
||||
* This virtual driver emulates PWM / servo outputs for setups where
|
||||
* the connected hardware does not provide enough or no PWM outputs.
|
||||
*
|
||||
* Its only function is to take actuator_control uORB messages,
|
||||
* mix them with any loaded mixer and output the result to the
|
||||
* actuator_output uORB topic. HIL can also be performed with normal
|
||||
* PWM outputs, a special flag prevents the outputs to be operated
|
||||
* during HIL mode. If HIL is not performed with a standalone FMU,
|
||||
* but in a real system, it is NOT recommended to use this virtual
|
||||
* driver. Use instead the normal FMU or IO driver.
|
||||
*/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <sys/types.h>
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <stdlib.h>
|
||||
#include <semaphore.h>
|
||||
#include <string.h>
|
||||
#include <fcntl.h>
|
||||
#include <poll.h>
|
||||
#include <errno.h>
|
||||
#include <stdio.h>
|
||||
#include <math.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include <nuttx/arch.h>
|
||||
|
||||
#include <drivers/device/device.h>
|
||||
#include <drivers/drv_pwm_output.h>
|
||||
#include <drivers/drv_gpio.h>
|
||||
// #include <drivers/boards/HIL/HIL_internal.h>
|
||||
|
||||
#include <systemlib/systemlib.h>
|
||||
#include <systemlib/mixer/mixer.h>
|
||||
#include <drivers/drv_mixer.h>
|
||||
|
||||
#include <uORB/topics/actuator_controls.h>
|
||||
#include <uORB/topics/actuator_outputs.h>
|
||||
|
||||
#include <systemlib/err.h>
|
||||
|
||||
class HIL : public device::CDev
|
||||
{
|
||||
public:
|
||||
enum Mode {
|
||||
MODE_2PWM,
|
||||
MODE_4PWM,
|
||||
MODE_8PWM,
|
||||
MODE_12PWM,
|
||||
MODE_16PWM,
|
||||
MODE_NONE
|
||||
};
|
||||
HIL();
|
||||
~HIL();
|
||||
|
||||
virtual int ioctl(file *filp, int cmd, unsigned long arg);
|
||||
|
||||
virtual int init();
|
||||
|
||||
int set_mode(Mode mode);
|
||||
int set_pwm_rate(unsigned rate);
|
||||
|
||||
private:
|
||||
static const unsigned _max_actuators = 4;
|
||||
|
||||
Mode _mode;
|
||||
int _update_rate;
|
||||
int _current_update_rate;
|
||||
int _task;
|
||||
int _t_actuators;
|
||||
int _t_armed;
|
||||
orb_advert_t _t_outputs;
|
||||
unsigned _num_outputs;
|
||||
bool _primary_pwm_device;
|
||||
|
||||
volatile bool _task_should_exit;
|
||||
bool _armed;
|
||||
|
||||
MixerGroup *_mixers;
|
||||
|
||||
actuator_controls_s _controls;
|
||||
|
||||
static void task_main_trampoline(int argc, char *argv[]);
|
||||
void task_main() __attribute__((noreturn));
|
||||
|
||||
static int control_callback(uintptr_t handle,
|
||||
uint8_t control_group,
|
||||
uint8_t control_index,
|
||||
float &input);
|
||||
|
||||
int pwm_ioctl(file *filp, int cmd, unsigned long arg);
|
||||
|
||||
struct GPIOConfig {
|
||||
uint32_t input;
|
||||
uint32_t output;
|
||||
uint32_t alt;
|
||||
};
|
||||
|
||||
static const GPIOConfig _gpio_tab[];
|
||||
static const unsigned _ngpio;
|
||||
|
||||
void gpio_reset(void);
|
||||
void gpio_set_function(uint32_t gpios, int function);
|
||||
void gpio_write(uint32_t gpios, int function);
|
||||
uint32_t gpio_read(void);
|
||||
int gpio_ioctl(file *filp, int cmd, unsigned long arg);
|
||||
|
||||
};
|
||||
|
||||
namespace
|
||||
{
|
||||
|
||||
HIL *g_hil;
|
||||
|
||||
} // namespace
|
||||
|
||||
HIL::HIL() :
|
||||
CDev("hilservo", PWM_OUTPUT_DEVICE_PATH/*"/dev/hil" XXXL*/),
|
||||
_mode(MODE_NONE),
|
||||
_update_rate(50),
|
||||
_task(-1),
|
||||
_t_actuators(-1),
|
||||
_t_armed(-1),
|
||||
_t_outputs(0),
|
||||
_num_outputs(0),
|
||||
_primary_pwm_device(false),
|
||||
_task_should_exit(false),
|
||||
_armed(false),
|
||||
_mixers(nullptr)
|
||||
{
|
||||
_debug_enabled = true;
|
||||
}
|
||||
|
||||
HIL::~HIL()
|
||||
{
|
||||
if (_task != -1) {
|
||||
/* tell the task we want it to go away */
|
||||
_task_should_exit = true;
|
||||
|
||||
unsigned i = 10;
|
||||
do {
|
||||
/* wait 50ms - it should wake every 100ms or so worst-case */
|
||||
usleep(50000);
|
||||
|
||||
/* if we have given up, kill it */
|
||||
if (--i == 0) {
|
||||
task_delete(_task);
|
||||
break;
|
||||
}
|
||||
|
||||
} while (_task != -1);
|
||||
}
|
||||
|
||||
/* clean up the alternate device node */
|
||||
if (_primary_pwm_device)
|
||||
unregister_driver(PWM_OUTPUT_DEVICE_PATH);
|
||||
|
||||
g_hil = nullptr;
|
||||
}
|
||||
|
||||
int
|
||||
HIL::init()
|
||||
{
|
||||
int ret;
|
||||
|
||||
ASSERT(_task == -1);
|
||||
|
||||
/* do regular cdev init */
|
||||
ret = CDev::init();
|
||||
|
||||
if (ret != OK)
|
||||
return ret;
|
||||
|
||||
// XXX already claimed with CDEV
|
||||
///* 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;
|
||||
}
|
||||
|
||||
/* reset GPIOs */
|
||||
// gpio_reset();
|
||||
|
||||
/* start the HIL interface task */
|
||||
_task = task_spawn("fmuhil",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_DEFAULT,
|
||||
2048,
|
||||
(main_t)&HIL::task_main_trampoline,
|
||||
nullptr);
|
||||
|
||||
if (_task < 0) {
|
||||
debug("task start failed: %d", errno);
|
||||
return -errno;
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
void
|
||||
HIL::task_main_trampoline(int argc, char *argv[])
|
||||
{
|
||||
g_hil->task_main();
|
||||
}
|
||||
|
||||
int
|
||||
HIL::set_mode(Mode mode)
|
||||
{
|
||||
/*
|
||||
* Configure for PWM output.
|
||||
*
|
||||
* Note that regardless of the configured mode, the task is always
|
||||
* listening and mixing; the mode just selects which of the channels
|
||||
* are presented on the output pins.
|
||||
*/
|
||||
switch (mode) {
|
||||
case MODE_2PWM:
|
||||
debug("MODE_2PWM");
|
||||
/* multi-port with flow control lines as PWM */
|
||||
_update_rate = 50; /* default output rate */
|
||||
break;
|
||||
|
||||
case MODE_4PWM:
|
||||
debug("MODE_4PWM");
|
||||
/* multi-port as 4 PWM outs */
|
||||
_update_rate = 50; /* default output rate */
|
||||
break;
|
||||
|
||||
case MODE_8PWM:
|
||||
debug("MODE_8PWM");
|
||||
/* multi-port as 8 PWM outs */
|
||||
_update_rate = 50; /* default output rate */
|
||||
break;
|
||||
|
||||
case MODE_12PWM:
|
||||
debug("MODE_12PWM");
|
||||
/* multi-port as 12 PWM outs */
|
||||
_update_rate = 50; /* default output rate */
|
||||
break;
|
||||
|
||||
case MODE_16PWM:
|
||||
debug("MODE_16PWM");
|
||||
/* multi-port as 16 PWM outs */
|
||||
_update_rate = 50; /* default output rate */
|
||||
break;
|
||||
|
||||
case MODE_NONE:
|
||||
debug("MODE_NONE");
|
||||
/* disable servo outputs and set a very low update rate */
|
||||
_update_rate = 10;
|
||||
break;
|
||||
|
||||
default:
|
||||
return -EINVAL;
|
||||
}
|
||||
_mode = mode;
|
||||
return OK;
|
||||
}
|
||||
|
||||
int
|
||||
HIL::set_pwm_rate(unsigned rate)
|
||||
{
|
||||
if ((rate > 500) || (rate < 10))
|
||||
return -EINVAL;
|
||||
|
||||
_update_rate = rate;
|
||||
return OK;
|
||||
}
|
||||
|
||||
void
|
||||
HIL::task_main()
|
||||
{
|
||||
/*
|
||||
* Subscribe to the appropriate PWM output topic based on whether we are the
|
||||
* primary PWM output or not.
|
||||
*/
|
||||
_t_actuators = orb_subscribe(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS :
|
||||
ORB_ID(actuator_controls_1));
|
||||
/* force a reset of the update rate */
|
||||
_current_update_rate = 0;
|
||||
|
||||
_t_armed = orb_subscribe(ORB_ID(actuator_armed));
|
||||
orb_set_interval(_t_armed, 200); /* 5Hz update rate */
|
||||
|
||||
/* advertise the mixed control outputs */
|
||||
actuator_outputs_s outputs;
|
||||
memset(&outputs, 0, sizeof(outputs));
|
||||
/* advertise the mixed control outputs */
|
||||
_t_outputs = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1),
|
||||
&outputs);
|
||||
|
||||
pollfd fds[2];
|
||||
fds[0].fd = _t_actuators;
|
||||
fds[0].events = POLLIN;
|
||||
fds[1].fd = _t_armed;
|
||||
fds[1].events = POLLIN;
|
||||
|
||||
unsigned num_outputs;
|
||||
|
||||
/* select the number of virtual outputs */
|
||||
switch (_mode) {
|
||||
case MODE_2PWM:
|
||||
num_outputs = 2;
|
||||
break;
|
||||
|
||||
case MODE_4PWM:
|
||||
num_outputs = 4;
|
||||
break;
|
||||
|
||||
case MODE_8PWM:
|
||||
case MODE_12PWM:
|
||||
case MODE_16PWM:
|
||||
// XXX only support the lower 8 - trivial to extend
|
||||
num_outputs = 8;
|
||||
break;
|
||||
|
||||
case MODE_NONE:
|
||||
default:
|
||||
num_outputs = 0;
|
||||
break;
|
||||
}
|
||||
|
||||
log("starting");
|
||||
|
||||
/* loop until killed */
|
||||
while (!_task_should_exit) {
|
||||
|
||||
/* handle update rate changes */
|
||||
if (_current_update_rate != _update_rate) {
|
||||
int update_rate_in_ms = int(1000 / _update_rate);
|
||||
if (update_rate_in_ms < 2)
|
||||
update_rate_in_ms = 2;
|
||||
orb_set_interval(_t_actuators, update_rate_in_ms);
|
||||
// up_pwm_servo_set_rate(_update_rate);
|
||||
_current_update_rate = _update_rate;
|
||||
}
|
||||
|
||||
/* sleep waiting for data, but no more than a second */
|
||||
int ret = ::poll(&fds[0], 2, 1000);
|
||||
|
||||
/* this would be bad... */
|
||||
if (ret < 0) {
|
||||
log("poll error %d", errno);
|
||||
usleep(1000000);
|
||||
continue;
|
||||
}
|
||||
|
||||
/* do we have a control update? */
|
||||
if (fds[0].revents & POLLIN) {
|
||||
|
||||
/* get controls - must always do this to avoid spinning */
|
||||
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, _t_actuators, &_controls);
|
||||
|
||||
/* can we mix? */
|
||||
if (_mixers != nullptr) {
|
||||
|
||||
/* do mixing */
|
||||
_mixers->mix(&outputs.output[0], num_outputs);
|
||||
|
||||
/* iterate actuators */
|
||||
for (unsigned i = 0; i < num_outputs; i++) {
|
||||
|
||||
/* scale for PWM output 900 - 2100us */
|
||||
outputs.output[i] = 1500 + (600 * outputs.output[i]);
|
||||
|
||||
/* output to the servo */
|
||||
// up_pwm_servo_set(i, outputs.output[i]);
|
||||
}
|
||||
|
||||
/* and publish for anyone that cares to see */
|
||||
orb_publish(ORB_ID_VEHICLE_CONTROLS, _t_outputs, &outputs);
|
||||
}
|
||||
}
|
||||
|
||||
/* how about an arming update? */
|
||||
if (fds[1].revents & POLLIN) {
|
||||
actuator_armed_s aa;
|
||||
|
||||
/* get new value */
|
||||
orb_copy(ORB_ID(actuator_armed), _t_armed, &aa);
|
||||
|
||||
/* update PWM servo armed status */
|
||||
// up_pwm_servo_arm(aa.armed);
|
||||
}
|
||||
}
|
||||
|
||||
::close(_t_actuators);
|
||||
::close(_t_armed);
|
||||
|
||||
/* make sure servos are off */
|
||||
// up_pwm_servo_deinit();
|
||||
|
||||
log("stopping");
|
||||
|
||||
/* note - someone else is responsible for restoring the GPIO config */
|
||||
|
||||
/* tell the dtor that we are exiting */
|
||||
_task = -1;
|
||||
_exit(0);
|
||||
}
|
||||
|
||||
int
|
||||
HIL::control_callback(uintptr_t handle,
|
||||
uint8_t control_group,
|
||||
uint8_t control_index,
|
||||
float &input)
|
||||
{
|
||||
const actuator_controls_s *controls = (actuator_controls_s *)handle;
|
||||
|
||||
input = controls->control[control_index];
|
||||
return 0;
|
||||
}
|
||||
|
||||
int
|
||||
HIL::ioctl(file *filp, int cmd, unsigned long arg)
|
||||
{
|
||||
int ret;
|
||||
|
||||
debug("ioctl 0x%04x 0x%08x", cmd, arg);
|
||||
|
||||
// /* try it as a GPIO ioctl first */
|
||||
// ret = HIL::gpio_ioctl(filp, cmd, arg);
|
||||
// if (ret != -ENOTTY)
|
||||
// return ret;
|
||||
|
||||
/* if we are in valid PWM mode, try it as a PWM ioctl as well */
|
||||
switch(_mode) {
|
||||
case MODE_2PWM:
|
||||
case MODE_4PWM:
|
||||
case MODE_8PWM:
|
||||
case MODE_12PWM:
|
||||
case MODE_16PWM:
|
||||
ret = HIL::pwm_ioctl(filp, cmd, arg);
|
||||
break;
|
||||
default:
|
||||
ret = -ENOTTY;
|
||||
debug("not in a PWM mode");
|
||||
break;
|
||||
}
|
||||
|
||||
/* if nobody wants it, let CDev have it */
|
||||
if (ret == -ENOTTY)
|
||||
ret = CDev::ioctl(filp, cmd, arg);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
int
|
||||
HIL::pwm_ioctl(file *filp, int cmd, unsigned long arg)
|
||||
{
|
||||
int ret = OK;
|
||||
// int channel;
|
||||
|
||||
lock();
|
||||
|
||||
switch (cmd) {
|
||||
case PWM_SERVO_ARM:
|
||||
// up_pwm_servo_arm(true);
|
||||
break;
|
||||
|
||||
case PWM_SERVO_DISARM:
|
||||
// up_pwm_servo_arm(false);
|
||||
break;
|
||||
|
||||
case PWM_SERVO_SET(2):
|
||||
case PWM_SERVO_SET(3):
|
||||
if (_mode != MODE_4PWM) {
|
||||
ret = -EINVAL;
|
||||
break;
|
||||
}
|
||||
|
||||
/* FALLTHROUGH */
|
||||
case PWM_SERVO_SET(0):
|
||||
case PWM_SERVO_SET(1):
|
||||
if (arg < 2100) {
|
||||
// channel = cmd - PWM_SERVO_SET(0);
|
||||
// up_pwm_servo_set(channel, arg); XXX
|
||||
|
||||
} else {
|
||||
ret = -EINVAL;
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
case PWM_SERVO_GET(2):
|
||||
case PWM_SERVO_GET(3):
|
||||
if (_mode != MODE_4PWM) {
|
||||
ret = -EINVAL;
|
||||
break;
|
||||
}
|
||||
|
||||
/* FALLTHROUGH */
|
||||
case PWM_SERVO_GET(0):
|
||||
case PWM_SERVO_GET(1): {
|
||||
// channel = cmd - PWM_SERVO_SET(0);
|
||||
// *(servo_position_t *)arg = up_pwm_servo_get(channel);
|
||||
break;
|
||||
}
|
||||
|
||||
case MIXERIOCGETOUTPUTCOUNT:
|
||||
if (_mode == MODE_4PWM) {
|
||||
*(unsigned *)arg = 4;
|
||||
|
||||
} else {
|
||||
*(unsigned *)arg = 2;
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
case MIXERIOCRESET:
|
||||
if (_mixers != nullptr) {
|
||||
delete _mixers;
|
||||
_mixers = nullptr;
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
case MIXERIOCADDSIMPLE: {
|
||||
mixer_simple_s *mixinfo = (mixer_simple_s *)arg;
|
||||
|
||||
SimpleMixer *mixer = new SimpleMixer(control_callback,
|
||||
(uintptr_t)&_controls, mixinfo);
|
||||
|
||||
if (mixer->check()) {
|
||||
delete mixer;
|
||||
ret = -EINVAL;
|
||||
|
||||
} else {
|
||||
if (_mixers == nullptr)
|
||||
_mixers = new MixerGroup(control_callback,
|
||||
(uintptr_t)&_controls);
|
||||
|
||||
_mixers->add_mixer(mixer);
|
||||
}
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
case MIXERIOCADDMULTIROTOR:
|
||||
/* XXX not yet supported */
|
||||
ret = -ENOTTY;
|
||||
break;
|
||||
|
||||
case MIXERIOCLOADFILE: {
|
||||
const char *path = (const char *)arg;
|
||||
|
||||
if (_mixers != nullptr) {
|
||||
delete _mixers;
|
||||
_mixers = nullptr;
|
||||
}
|
||||
|
||||
_mixers = new MixerGroup(control_callback, (uintptr_t)&_controls);
|
||||
if (_mixers == nullptr) {
|
||||
ret = -ENOMEM;
|
||||
} else {
|
||||
|
||||
debug("loading mixers from %s", path);
|
||||
ret = _mixers->load_from_file(path);
|
||||
|
||||
if (ret != 0) {
|
||||
debug("mixer load failed with %d", ret);
|
||||
delete _mixers;
|
||||
_mixers = nullptr;
|
||||
ret = -EINVAL;
|
||||
}
|
||||
}
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
default:
|
||||
ret = -ENOTTY;
|
||||
break;
|
||||
}
|
||||
|
||||
unlock();
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
namespace
|
||||
{
|
||||
|
||||
enum PortMode {
|
||||
PORT_MODE_UNDEFINED = 0,
|
||||
PORT1_MODE_UNSET,
|
||||
PORT1_FULL_PWM,
|
||||
PORT1_PWM_AND_SERIAL,
|
||||
PORT1_PWM_AND_GPIO,
|
||||
PORT2_MODE_UNSET,
|
||||
PORT2_8PWM,
|
||||
PORT2_12PWM,
|
||||
PORT2_16PWM,
|
||||
};
|
||||
|
||||
PortMode g_port_mode;
|
||||
|
||||
int
|
||||
hil_new_mode(PortMode new_mode, int update_rate)
|
||||
{
|
||||
// uint32_t gpio_bits;
|
||||
|
||||
|
||||
// /* reset to all-inputs */
|
||||
// g_hil->ioctl(0, GPIO_RESET, 0);
|
||||
|
||||
// gpio_bits = 0;
|
||||
|
||||
HIL::Mode servo_mode = HIL::MODE_NONE;
|
||||
|
||||
switch (new_mode) {
|
||||
case PORT_MODE_UNDEFINED:
|
||||
case PORT1_MODE_UNSET:
|
||||
case PORT2_MODE_UNSET:
|
||||
/* nothing more to do here */
|
||||
break;
|
||||
|
||||
case PORT1_FULL_PWM:
|
||||
/* select 4-pin PWM mode */
|
||||
servo_mode = HIL::MODE_4PWM;
|
||||
break;
|
||||
|
||||
case PORT1_PWM_AND_SERIAL:
|
||||
/* select 2-pin PWM mode */
|
||||
servo_mode = HIL::MODE_2PWM;
|
||||
// /* set RX/TX multi-GPIOs to serial mode */
|
||||
// gpio_bits = GPIO_MULTI_3 | GPIO_MULTI_4;
|
||||
break;
|
||||
|
||||
case PORT1_PWM_AND_GPIO:
|
||||
/* select 2-pin PWM mode */
|
||||
servo_mode = HIL::MODE_2PWM;
|
||||
break;
|
||||
|
||||
case PORT2_8PWM:
|
||||
/* select 8-pin PWM mode */
|
||||
servo_mode = HIL::MODE_8PWM;
|
||||
break;
|
||||
|
||||
case PORT2_12PWM:
|
||||
/* select 12-pin PWM mode */
|
||||
servo_mode = HIL::MODE_12PWM;
|
||||
break;
|
||||
|
||||
case PORT2_16PWM:
|
||||
/* select 16-pin PWM mode */
|
||||
servo_mode = HIL::MODE_16PWM;
|
||||
break;
|
||||
}
|
||||
|
||||
// /* adjust GPIO config for serial mode(s) */
|
||||
// if (gpio_bits != 0)
|
||||
// g_hil->ioctl(0, GPIO_SET_ALT_1, gpio_bits);
|
||||
|
||||
/* (re)set the PWM output mode */
|
||||
g_hil->set_mode(servo_mode);
|
||||
if ((servo_mode != HIL::MODE_NONE) && (update_rate != 0))
|
||||
g_hil->set_pwm_rate(update_rate);
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
int
|
||||
hil_start(void)
|
||||
{
|
||||
int ret = OK;
|
||||
|
||||
if (g_hil == nullptr) {
|
||||
|
||||
g_hil = new HIL;
|
||||
|
||||
if (g_hil == nullptr) {
|
||||
ret = -ENOMEM;
|
||||
|
||||
} else {
|
||||
ret = g_hil->init();
|
||||
|
||||
if (ret != OK) {
|
||||
delete g_hil;
|
||||
g_hil = nullptr;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
void
|
||||
test(void)
|
||||
{
|
||||
int fd;
|
||||
|
||||
fd = open(PWM_OUTPUT_DEVICE_PATH, 0);
|
||||
|
||||
if (fd < 0) {
|
||||
puts("open fail");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
ioctl(fd, PWM_SERVO_ARM, 0);
|
||||
ioctl(fd, PWM_SERVO_SET(0), 1000);
|
||||
|
||||
close(fd);
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
void
|
||||
fake(int argc, char *argv[])
|
||||
{
|
||||
if (argc < 5) {
|
||||
puts("hil fake <roll> <pitch> <yaw> <thrust> (values -100 .. 100)");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
actuator_controls_s ac;
|
||||
|
||||
ac.control[0] = strtol(argv[1], 0, 0) / 100.0f;
|
||||
|
||||
ac.control[1] = strtol(argv[2], 0, 0) / 100.0f;
|
||||
|
||||
ac.control[2] = strtol(argv[3], 0, 0) / 100.0f;
|
||||
|
||||
ac.control[3] = strtol(argv[4], 0, 0) / 100.0f;
|
||||
|
||||
orb_advert_t handle = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &ac);
|
||||
|
||||
if (handle < 0) {
|
||||
puts("advertise failed");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
extern "C" __EXPORT int hil_main(int argc, char *argv[]);
|
||||
|
||||
int
|
||||
hil_main(int argc, char *argv[])
|
||||
{
|
||||
PortMode new_mode = PORT_MODE_UNDEFINED;
|
||||
int pwm_update_rate_in_hz = 0;
|
||||
|
||||
if (!strcmp(argv[1], "test"))
|
||||
test();
|
||||
|
||||
if (!strcmp(argv[1], "fake"))
|
||||
fake(argc - 1, argv + 1);
|
||||
|
||||
if (hil_start() != OK)
|
||||
errx(1, "failed to start the FMU driver");
|
||||
|
||||
/*
|
||||
* Mode switches.
|
||||
*
|
||||
* XXX use getopt?
|
||||
*/
|
||||
for (int i = 1; i < argc; i++) { /* argv[0] is "fmu" */
|
||||
|
||||
if (!strcmp(argv[i], "mode_pwm")) {
|
||||
new_mode = PORT1_FULL_PWM;
|
||||
|
||||
} else if (!strcmp(argv[i], "mode_pwm_serial")) {
|
||||
new_mode = PORT1_PWM_AND_SERIAL;
|
||||
|
||||
} else if (!strcmp(argv[i], "mode_pwm_gpio")) {
|
||||
new_mode = PORT1_PWM_AND_GPIO;
|
||||
|
||||
} else if (!strcmp(argv[i], "mode_port2_pwm8")) {
|
||||
new_mode = PORT2_8PWM;
|
||||
|
||||
} else if (!strcmp(argv[i], "mode_port2_pwm12")) {
|
||||
new_mode = PORT2_8PWM;
|
||||
|
||||
} else if (!strcmp(argv[i], "mode_port2_pwm16")) {
|
||||
new_mode = PORT2_8PWM;
|
||||
}
|
||||
|
||||
/* look for the optional pwm update rate for the supported modes */
|
||||
if (strcmp(argv[i], "-u") == 0 || strcmp(argv[i], "--update-rate") == 0) {
|
||||
// if (new_mode == PORT1_FULL_PWM || new_mode == PORT1_PWM_AND_GPIO) {
|
||||
// XXX all modes have PWM settings
|
||||
if (argc > i + 1) {
|
||||
pwm_update_rate_in_hz = atoi(argv[i + 1]);
|
||||
printf("pwm update rate: %d Hz\n", pwm_update_rate_in_hz);
|
||||
} else {
|
||||
fprintf(stderr, "missing argument for pwm update rate (-u)\n");
|
||||
return 1;
|
||||
}
|
||||
// } else {
|
||||
// fprintf(stderr, "pwm update rate currently only supported for mode_pwm, mode_pwm_gpio\n");
|
||||
// }
|
||||
}
|
||||
}
|
||||
|
||||
/* was a new mode set? */
|
||||
if (new_mode != PORT_MODE_UNDEFINED) {
|
||||
|
||||
/* yes but it's the same mode */
|
||||
if (new_mode == g_port_mode)
|
||||
return OK;
|
||||
|
||||
/* switch modes */
|
||||
return hil_new_mode(new_mode, pwm_update_rate_in_hz);
|
||||
}
|
||||
|
||||
/* test, etc. here */
|
||||
|
||||
fprintf(stderr, "HIL: unrecognized command, try:\n");
|
||||
fprintf(stderr, " mode_pwm [-u pwm_update_rate_in_hz], mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio, mode_port2_pwm8, mode_port2_pwm12, mode_port2_pwm16\n");
|
||||
return -EINVAL;
|
||||
}
|
||||
|
|
@ -224,7 +224,7 @@ PX4FMU::init()
|
|||
_task = task_spawn("fmuservo",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_DEFAULT,
|
||||
1024,
|
||||
2048,
|
||||
(main_t)&PX4FMU::task_main_trampoline,
|
||||
nullptr);
|
||||
|
||||
|
|
@ -419,7 +419,8 @@ PX4FMU::ioctl(file *filp, int cmd, unsigned long arg)
|
|||
{
|
||||
int ret;
|
||||
|
||||
debug("ioctl 0x%04x 0x%08x", cmd, arg);
|
||||
// XXX disabled, confusing users
|
||||
//debug("ioctl 0x%04x 0x%08x", cmd, arg);
|
||||
|
||||
/* try it as a GPIO ioctl first */
|
||||
ret = gpio_ioctl(filp, cmd, arg);
|
||||
|
|
|
|||
|
|
@ -418,10 +418,11 @@ void *mtk_watchdog_loop(void *args)
|
|||
mtk_gps->satellite_info_available = 0;
|
||||
// global_data_send_subsystem_info(&mtk_present_enabled_healthy);
|
||||
mavlink_log_info(mavlink_fd, "[gps] MTK custom binary module found, status ok\n");
|
||||
mtk_healthy = true;
|
||||
mtk_fail_count = 0;
|
||||
once_ok = true;
|
||||
}
|
||||
|
||||
mtk_healthy = true;
|
||||
mtk_fail_count = 0;
|
||||
once_ok = true;
|
||||
}
|
||||
|
||||
usleep(MTK_WATCHDOG_WAIT_TIME_MICROSECONDS);
|
||||
|
|
|
|||
|
|
@ -272,7 +272,8 @@ int ubx_parse(uint8_t b, char *gps_rx_buffer)
|
|||
|
||||
ubx_gps->timestamp = hrt_absolute_time();
|
||||
ubx_gps->counter++;
|
||||
|
||||
ubx_gps->s_variance = packet->sAcc;
|
||||
ubx_gps->p_variance = packet->pAcc;
|
||||
|
||||
//pthread_mutex_lock(ubx_mutex);
|
||||
ubx_state->last_message_timestamps[NAV_SOL - 1] = hrt_absolute_time();
|
||||
|
|
@ -785,10 +786,6 @@ void *ubx_watchdog_loop(void *args)
|
|||
sleep(1);
|
||||
|
||||
} else {
|
||||
/* gps healthy */
|
||||
ubx_success_count++;
|
||||
ubx_healthy = true;
|
||||
ubx_fail_count = 0;
|
||||
|
||||
if (!ubx_healthy && ubx_success_count == UBX_HEALTH_SUCCESS_COUNTER_LIMIT) {
|
||||
//printf("[gps] ublox UBX module status ok (baud=%d)\r\n", current_gps_speed);
|
||||
|
|
@ -799,6 +796,10 @@ void *ubx_watchdog_loop(void *args)
|
|||
once_ok = true;
|
||||
}
|
||||
|
||||
/* gps healthy */
|
||||
ubx_success_count++;
|
||||
ubx_healthy = true;
|
||||
ubx_fail_count = 0;
|
||||
}
|
||||
|
||||
usleep(UBX_WATCHDOG_WAIT_TIME_MICROSECONDS);
|
||||
|
|
|
|||
|
|
@ -132,6 +132,7 @@ static struct mavlink_logbuffer lb;
|
|||
static void mavlink_update_system(void);
|
||||
static int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb);
|
||||
static void usage(void);
|
||||
int set_mavlink_interval_limit(struct mavlink_subscriptions *subs, int mavlink_msg_id, int min_interval);
|
||||
|
||||
|
||||
|
||||
|
|
@ -143,15 +144,10 @@ set_hil_on_off(bool hil_enabled)
|
|||
/* Enable HIL */
|
||||
if (hil_enabled && !mavlink_hil_enabled) {
|
||||
|
||||
//printf("\n HIL ON \n");
|
||||
|
||||
/* Advertise topics */
|
||||
pub_hil_attitude = orb_advertise(ORB_ID(vehicle_attitude), &hil_attitude);
|
||||
pub_hil_global_pos = orb_advertise(ORB_ID(vehicle_global_position), &hil_global_pos);
|
||||
|
||||
printf("\n pub_hil_attitude :%i\n", pub_hil_attitude);
|
||||
printf("\n pub_hil_global_pos :%i\n", pub_hil_global_pos);
|
||||
|
||||
mavlink_hil_enabled = true;
|
||||
|
||||
/* ramp up some HIL-related subscriptions */
|
||||
|
|
@ -166,15 +162,13 @@ set_hil_on_off(bool hil_enabled)
|
|||
} else if (baudrate < 115200) {
|
||||
/* 20 Hz */
|
||||
hil_rate_interval = 50;
|
||||
} else if (baudrate < 460800) {
|
||||
/* 50 Hz */
|
||||
hil_rate_interval = 20;
|
||||
} else {
|
||||
/* 100 Hz */
|
||||
hil_rate_interval = 10;
|
||||
/* 200 Hz */
|
||||
hil_rate_interval = 5;
|
||||
}
|
||||
|
||||
orb_set_interval(mavlink_subs.spa_sub, hil_rate_interval);
|
||||
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, hil_rate_interval);
|
||||
}
|
||||
|
||||
if (!hil_enabled && mavlink_hil_enabled) {
|
||||
|
|
@ -268,7 +262,7 @@ get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_mode)
|
|||
}
|
||||
|
||||
|
||||
static int set_mavlink_interval_limit(struct mavlink_subscriptions *subs, int mavlink_msg_id, int min_interval)
|
||||
int set_mavlink_interval_limit(struct mavlink_subscriptions *subs, int mavlink_msg_id, int min_interval)
|
||||
{
|
||||
int ret = OK;
|
||||
|
||||
|
|
@ -458,19 +452,19 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, uint8_t *ch, int length)
|
|||
/*
|
||||
* Internal function to give access to the channel status for each channel
|
||||
*/
|
||||
mavlink_status_t* mavlink_get_channel_status(uint8_t chan)
|
||||
mavlink_status_t* mavlink_get_channel_status(uint8_t channel)
|
||||
{
|
||||
static mavlink_status_t m_mavlink_status[MAVLINK_COMM_NUM_BUFFERS];
|
||||
return &m_mavlink_status[chan];
|
||||
return &m_mavlink_status[channel];
|
||||
}
|
||||
|
||||
/*
|
||||
* Internal function to give access to the channel buffer for each channel
|
||||
*/
|
||||
mavlink_message_t* mavlink_get_channel_buffer(uint8_t chan)
|
||||
mavlink_message_t* mavlink_get_channel_buffer(uint8_t channel)
|
||||
{
|
||||
static mavlink_message_t m_mavlink_buffer[MAVLINK_COMM_NUM_BUFFERS];
|
||||
return &m_mavlink_buffer[chan];
|
||||
return &m_mavlink_buffer[channel];
|
||||
}
|
||||
|
||||
void mavlink_update_system(void)
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
* Author: Lorenz Meier <lm@inf.ethz.ch>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
|
|
@ -35,6 +35,8 @@
|
|||
/**
|
||||
* @file mavlink_receiver.c
|
||||
* MAVLink protocol message receive and dispatch
|
||||
*
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
*/
|
||||
|
||||
/* XXX trim includes */
|
||||
|
|
@ -216,8 +218,6 @@ handle_message(mavlink_message_t *msg)
|
|||
if (msg->msgid == MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST) {
|
||||
mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t quad_motors_setpoint;
|
||||
mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_decode(msg, &quad_motors_setpoint);
|
||||
//printf("got message\n");
|
||||
//printf("got MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT target_system=%u, sysid = %u\n", mavlink_system.sysid, quad_motors_setpoint.mode);
|
||||
|
||||
if (mavlink_system.sysid < 4) {
|
||||
|
||||
|
|
@ -274,61 +274,6 @@ handle_message(mavlink_message_t *msg)
|
|||
/* Publish */
|
||||
orb_publish(ORB_ID(offboard_control_setpoint), offboard_control_sp_pub, &offboard_control_sp);
|
||||
}
|
||||
|
||||
// /* change armed status if required */
|
||||
// bool cmd_armed = (quad_motors_setpoint.mode & MAVLINK_OFFBOARD_CONTROL_FLAG_ARMED);
|
||||
|
||||
// bool cmd_generated = false;
|
||||
|
||||
// if (v_status.flag_control_offboard_enabled != cmd_armed) {
|
||||
// vcmd.param1 = cmd_armed;
|
||||
// vcmd.param2 = 0;
|
||||
// vcmd.param3 = 0;
|
||||
// vcmd.param4 = 0;
|
||||
// vcmd.param5 = 0;
|
||||
// vcmd.param6 = 0;
|
||||
// vcmd.param7 = 0;
|
||||
// vcmd.command = MAV_CMD_COMPONENT_ARM_DISARM;
|
||||
// vcmd.target_system = mavlink_system.sysid;
|
||||
// vcmd.target_component = MAV_COMP_ID_ALL;
|
||||
// vcmd.source_system = msg->sysid;
|
||||
// vcmd.source_component = msg->compid;
|
||||
// vcmd.confirmation = 1;
|
||||
|
||||
// cmd_generated = true;
|
||||
// }
|
||||
|
||||
// /* check if input has to be enabled */
|
||||
// if ((v_status.flag_control_rates_enabled != (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_RATES)) ||
|
||||
// (v_status.flag_control_attitude_enabled != (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_ATTITUDE)) ||
|
||||
// (v_status.flag_control_velocity_enabled != (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_VELOCITY)) ||
|
||||
// (v_status.flag_control_position_enabled != (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_POSITION))) {
|
||||
// vcmd.param1 = (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_RATES);
|
||||
// vcmd.param2 = (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_ATTITUDE);
|
||||
// vcmd.param3 = (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_VELOCITY);
|
||||
// vcmd.param4 = (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_POSITION);
|
||||
// vcmd.param5 = 0;
|
||||
// vcmd.param6 = 0;
|
||||
// vcmd.param7 = 0;
|
||||
// vcmd.command = PX4_CMD_CONTROLLER_SELECTION;
|
||||
// vcmd.target_system = mavlink_system.sysid;
|
||||
// vcmd.target_component = MAV_COMP_ID_ALL;
|
||||
// vcmd.source_system = msg->sysid;
|
||||
// vcmd.source_component = msg->compid;
|
||||
// vcmd.confirmation = 1;
|
||||
|
||||
// cmd_generated = true;
|
||||
// }
|
||||
|
||||
// if (cmd_generated) {
|
||||
// /* check if topic is advertised */
|
||||
// if (cmd_pub <= 0) {
|
||||
// cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
|
||||
// } else {
|
||||
// /* create command */
|
||||
// orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
|
||||
// }
|
||||
// }
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -340,8 +285,6 @@ handle_message(mavlink_message_t *msg)
|
|||
* COMMAND_LONG message or a SET_MODE message
|
||||
*/
|
||||
|
||||
// printf("\n HIL ENABLED?: %s \n",(mavlink_hil_enabled)?"true":"false");
|
||||
|
||||
if (mavlink_hil_enabled) {
|
||||
|
||||
if (msg->msgid == MAVLINK_MSG_ID_HIL_STATE) {
|
||||
|
|
@ -349,20 +292,6 @@ handle_message(mavlink_message_t *msg)
|
|||
mavlink_hil_state_t hil_state;
|
||||
mavlink_msg_hil_state_decode(msg, &hil_state);
|
||||
|
||||
// printf("\n HILSTATE : \n LAT: %i \n LON: %i \n ALT: %i \n "
|
||||
// "ROLL %i \n PITCH %i \n YAW %i \n"
|
||||
// "ROLLSPEED: %i \n PITCHSPEED: %i \n, YAWSPEED: %i \n",
|
||||
// hil_state.lat/1000000, // 1e7
|
||||
// hil_state.lon/1000000, // 1e7
|
||||
// hil_state.alt/1000, // mm
|
||||
// hil_state.roll, // float rad
|
||||
// hil_state.pitch, // float rad
|
||||
// hil_state.yaw, // float rad
|
||||
// hil_state.rollspeed, // float rad/s
|
||||
// hil_state.pitchspeed, // float rad/s
|
||||
// hil_state.yawspeed); // float rad/s
|
||||
|
||||
|
||||
hil_global_pos.lat = hil_state.lat;
|
||||
hil_global_pos.lon = hil_state.lon;
|
||||
hil_global_pos.alt = hil_state.alt / 1000.0f;
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
* Author: Lorenz Meier <lm@inf.ethz.ch>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
|
|
@ -35,6 +35,8 @@
|
|||
/**
|
||||
* @file orb_listener.c
|
||||
* Monitors ORB topics and sends update messages as appropriate.
|
||||
*
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
*/
|
||||
|
||||
// XXX trim includes
|
||||
|
|
@ -419,7 +421,7 @@ l_actuator_outputs(struct listener *l)
|
|||
/* copy actuator data into local buffer */
|
||||
orb_copy(ids[l->arg], *l->subp, &act_outputs);
|
||||
|
||||
if (gcs_link)
|
||||
if (gcs_link) {
|
||||
mavlink_msg_servo_output_raw_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000,
|
||||
l->arg /* port number */,
|
||||
act_outputs.output[0],
|
||||
|
|
@ -430,6 +432,90 @@ l_actuator_outputs(struct listener *l)
|
|||
act_outputs.output[5],
|
||||
act_outputs.output[6],
|
||||
act_outputs.output[7]);
|
||||
|
||||
/* only send in HIL mode */
|
||||
if (mavlink_hil_enabled) {
|
||||
|
||||
/* translate the current syste state to mavlink state and mode */
|
||||
uint8_t mavlink_state = 0;
|
||||
uint8_t mavlink_mode = 0;
|
||||
get_mavlink_mode_and_state(&mavlink_state, &mavlink_mode);
|
||||
|
||||
/* HIL message as per MAVLink spec */
|
||||
|
||||
/* scale / assign outputs depending on system type */
|
||||
|
||||
if (mavlink_system.type == MAV_TYPE_QUADROTOR) {
|
||||
mavlink_msg_hil_controls_send(chan,
|
||||
hrt_absolute_time(),
|
||||
((act_outputs.output[0] - 900.0f) / 600.0f) / 2.0f,
|
||||
((act_outputs.output[1] - 900.0f) / 600.0f) / 2.0f,
|
||||
((act_outputs.output[2] - 900.0f) / 600.0f) / 2.0f,
|
||||
((act_outputs.output[3] - 900.0f) / 600.0f) / 2.0f,
|
||||
-1,
|
||||
-1,
|
||||
-1,
|
||||
-1,
|
||||
mavlink_mode,
|
||||
0);
|
||||
} else if (mavlink_system.type == MAV_TYPE_HEXAROTOR) {
|
||||
mavlink_msg_hil_controls_send(chan,
|
||||
hrt_absolute_time(),
|
||||
((act_outputs.output[0] - 900.0f) / 600.0f) / 2.0f,
|
||||
((act_outputs.output[1] - 900.0f) / 600.0f) / 2.0f,
|
||||
((act_outputs.output[2] - 900.0f) / 600.0f) / 2.0f,
|
||||
((act_outputs.output[3] - 900.0f) / 600.0f) / 2.0f,
|
||||
((act_outputs.output[4] - 900.0f) / 600.0f) / 2.0f,
|
||||
((act_outputs.output[5] - 900.0f) / 600.0f) / 2.0f,
|
||||
-1,
|
||||
-1,
|
||||
mavlink_mode,
|
||||
0);
|
||||
} else if (mavlink_system.type == MAV_TYPE_OCTOROTOR) {
|
||||
mavlink_msg_hil_controls_send(chan,
|
||||
hrt_absolute_time(),
|
||||
((act_outputs.output[0] - 900.0f) / 600.0f) / 2.0f,
|
||||
((act_outputs.output[1] - 900.0f) / 600.0f) / 2.0f,
|
||||
((act_outputs.output[2] - 900.0f) / 600.0f) / 2.0f,
|
||||
((act_outputs.output[3] - 900.0f) / 600.0f) / 2.0f,
|
||||
((act_outputs.output[4] - 900.0f) / 600.0f) / 2.0f,
|
||||
((act_outputs.output[5] - 900.0f) / 600.0f) / 2.0f,
|
||||
((act_outputs.output[6] - 900.0f) / 600.0f) / 2.0f,
|
||||
((act_outputs.output[7] - 900.0f) / 600.0f) / 2.0f,
|
||||
mavlink_mode,
|
||||
0);
|
||||
} else {
|
||||
float rudder, throttle;
|
||||
|
||||
/* SCALING: PWM min: 900, PWM max: 2100, center: 1500 */
|
||||
|
||||
// XXX very ugly, needs rework
|
||||
if (isfinite(act_outputs.output[3])
|
||||
&& act_outputs.output[3] > 800 && act_outputs.output[3] < 2200) {
|
||||
/* throttle is fourth output */
|
||||
rudder = (act_outputs.output[2] - 1500.0f) / 600.0f;
|
||||
throttle = (((act_outputs.output[3] - 900.0f) / 600.0f) / 2.0f);
|
||||
} else {
|
||||
/* only three outputs, put throttle on position 4 / index 3 */
|
||||
rudder = 0;
|
||||
throttle = (((act_outputs.output[2] - 900.0f) / 600.0f) / 2.0f);
|
||||
}
|
||||
|
||||
mavlink_msg_hil_controls_send(chan,
|
||||
hrt_absolute_time(),
|
||||
(act_outputs.output[0] - 1500.0f) / 600.0f,
|
||||
(act_outputs.output[1] - 1500.0f) / 600.0f,
|
||||
rudder,
|
||||
throttle,
|
||||
(act_outputs.output[4] - 1500.0f) / 600.0f,
|
||||
(act_outputs.output[5] - 1500.0f) / 600.0f,
|
||||
(act_outputs.output[6] - 1500.0f) / 600.0f,
|
||||
(act_outputs.output[7] - 1500.0f) / 600.0f,
|
||||
mavlink_mode,
|
||||
0);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
|
|
@ -482,29 +568,6 @@ l_vehicle_attitude_controls(struct listener *l)
|
|||
"ctrl3 ",
|
||||
actuators.control[3]);
|
||||
}
|
||||
|
||||
/* Only send in HIL mode */
|
||||
if (mavlink_hil_enabled) {
|
||||
|
||||
/* translate the current syste state to mavlink state and mode */
|
||||
uint8_t mavlink_state = 0;
|
||||
uint8_t mavlink_mode = 0;
|
||||
get_mavlink_mode_and_state(&mavlink_state, &mavlink_mode);
|
||||
|
||||
/* HIL message as per MAVLink spec */
|
||||
mavlink_msg_hil_controls_send(chan,
|
||||
hrt_absolute_time(),
|
||||
actuators.control[0],
|
||||
actuators.control[1],
|
||||
actuators.control[2],
|
||||
actuators.control[3],
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
mavlink_mode,
|
||||
0);
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
|
|
|
|||
|
|
@ -32,8 +32,10 @@
|
|||
*
|
||||
****************************************************************************/
|
||||
|
||||
/*
|
||||
* @file Implementation of AR.Drone 1.0 / 2.0 control interface
|
||||
/**
|
||||
* @file multirotor_pos_control.c
|
||||
*
|
||||
* Skeleton for multirotor position controller
|
||||
*/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
|
|
|||
|
|
@ -1,7 +1,6 @@
|
|||
/****************************************************************************
|
||||
* px4/sensors/test_gpio.c
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
|
|
@ -13,7 +12,7 @@
|
|||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name NuttX nor the names of its contributors may be
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
|
|
@ -32,9 +31,10 @@
|
|||
*
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
/**
|
||||
* @file test_adc.c
|
||||
* Test for the analog to digital converter.
|
||||
*/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#include <nuttx/arch.h>
|
||||
|
|
@ -54,91 +54,46 @@
|
|||
|
||||
#include <nuttx/analog/adc.h>
|
||||
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Types
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Function Prototypes
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Data
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Public Data
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Functions
|
||||
****************************************************************************/
|
||||
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: test_gpio
|
||||
****************************************************************************/
|
||||
|
||||
int test_adc(int argc, char *argv[])
|
||||
{
|
||||
int fd0;
|
||||
int fd0 = 0;
|
||||
int ret = 0;
|
||||
//struct adc_msg_s sample[4],sample2[4],sample3[4],sample4[4],sample5[4],sample6[4],sample7[4],sample8[4],sample9[4];
|
||||
|
||||
#pragma pack(push,1)
|
||||
struct adc_msg4_s {
|
||||
uint8_t am_channel1; /* The 8-bit ADC Channel */
|
||||
int32_t am_data1; /* ADC convert result (4 bytes) */
|
||||
uint8_t am_channel2; /* The 8-bit ADC Channel */
|
||||
int32_t am_data2; /* ADC convert result (4 bytes) */
|
||||
uint8_t am_channel3; /* The 8-bit ADC Channel */
|
||||
int32_t am_data3; /* ADC convert result (4 bytes) */
|
||||
uint8_t am_channel4; /* The 8-bit ADC Channel */
|
||||
int32_t am_data4; /* ADC convert result (4 bytes) */
|
||||
} __attribute__((__packed__));;
|
||||
uint8_t am_channel1; /**< The 8-bit ADC Channel 1 */
|
||||
int32_t am_data1; /**< ADC convert result 1 (4 bytes) */
|
||||
uint8_t am_channel2; /**< The 8-bit ADC Channel 2 */
|
||||
int32_t am_data2; /**< ADC convert result 2 (4 bytes) */
|
||||
uint8_t am_channel3; /**< The 8-bit ADC Channel 3 */
|
||||
int32_t am_data3; /**< ADC convert result 3 (4 bytes) */
|
||||
uint8_t am_channel4; /**< The 8-bit ADC Channel 4 */
|
||||
int32_t am_data4; /**< ADC convert result 4 (4 bytes) */
|
||||
};
|
||||
#pragma pack(pop)
|
||||
|
||||
struct adc_msg4_s sample1[4], sample2[4];
|
||||
struct adc_msg4_s sample1;
|
||||
|
||||
size_t readsize;
|
||||
ssize_t nbytes, nbytes2;
|
||||
int i;
|
||||
ssize_t nbytes;
|
||||
int j;
|
||||
int errval;
|
||||
|
||||
for (j = 0; j < 1; j++) {
|
||||
char name[11];
|
||||
sprintf(name, "/dev/adc%d", j);
|
||||
fd0 = open(name, O_RDONLY | O_NONBLOCK);
|
||||
fd0 = open("/dev/adc0", O_RDONLY | O_NONBLOCK);
|
||||
|
||||
if (fd0 < 0) {
|
||||
printf("ADC: %s open fail\n", name);
|
||||
return ERROR;
|
||||
if (fd0 <= 0) {
|
||||
message("/dev/adc0 open fail: %d\n", errno);
|
||||
return ERROR;
|
||||
|
||||
} else {
|
||||
printf("Opened %s successfully\n", name);
|
||||
}
|
||||
} else {
|
||||
message("opened /dev/adc0 successfully\n");
|
||||
}
|
||||
usleep(10000);
|
||||
|
||||
/* first adc read round */
|
||||
readsize = 4 * sizeof(struct adc_msg_s);
|
||||
up_udelay(10000);//microseconds
|
||||
nbytes = read(fd0, sample1, readsize);
|
||||
up_udelay(10000);//microseconds
|
||||
nbytes2 = read(fd0, sample2, readsize);
|
||||
// nbytes2 = read(fd0, sample3, readsize);
|
||||
// nbytes2 = read(fd0, sample4, readsize);
|
||||
// nbytes2 = read(fd0, sample5, readsize);
|
||||
// nbytes2 = read(fd0, sample6, readsize);
|
||||
// nbytes2 = read(fd0, sample7, readsize);
|
||||
// nbytes2 = read(fd0, sample8, readsize);
|
||||
//nbytes2 = read(fd0, sample9, readsize);
|
||||
for (j = 0; j < 10; j++) {
|
||||
|
||||
/* sleep 20 milliseconds */
|
||||
usleep(20000);
|
||||
nbytes = read(fd0, &sample1, sizeof(sample1));
|
||||
|
||||
/* Handle unexpected return values */
|
||||
|
||||
|
|
@ -146,62 +101,44 @@ int test_adc(int argc, char *argv[])
|
|||
errval = errno;
|
||||
|
||||
if (errval != EINTR) {
|
||||
message("read %s failed: %d\n",
|
||||
name, errval);
|
||||
message("reading /dev/adc0 failed: %d\n", errval);
|
||||
errval = 3;
|
||||
goto errout_with_dev;
|
||||
}
|
||||
|
||||
message("\tInterrupted read...\n");
|
||||
message("\tinterrupted read..\n");
|
||||
|
||||
} else if (nbytes == 0) {
|
||||
message("\tNo data read, Ignoring\n");
|
||||
message("\tno data read, ignoring.\n");
|
||||
ret = ERROR;
|
||||
}
|
||||
|
||||
/* Print the sample data on successful return */
|
||||
|
||||
else {
|
||||
int nsamples = nbytes / sizeof(struct adc_msg_s);
|
||||
|
||||
if (nsamples * sizeof(struct adc_msg_s) != nbytes) {
|
||||
message("\tread size=%d is not a multiple of sample size=%d, Ignoring\n",
|
||||
nbytes, sizeof(struct adc_msg_s));
|
||||
if (nbytes != sizeof(sample1)) {
|
||||
message("\tsample 1 size %d is not matching struct size %d, ignoring\n",
|
||||
nbytes, sizeof(sample1));
|
||||
ret = ERROR;
|
||||
|
||||
} else {
|
||||
message("Sample:");
|
||||
|
||||
for (i = 0; i < 1 ; i++) {
|
||||
message("%d: channel: %d value: %d\n",
|
||||
i, sample1[i].am_channel1, sample1[i].am_data1);
|
||||
message("Sample:");
|
||||
message("%d: channel: %d value: %d\n",
|
||||
i, sample1[i].am_channel2, sample1[i].am_data2);
|
||||
message("Sample:");
|
||||
message("%d: channel: %d value: %d\n",
|
||||
i, sample1[i].am_channel3, sample1[i].am_data3);
|
||||
message("Sample:");
|
||||
message("%d: channel: %d value: %d\n",
|
||||
i, sample1[i].am_channel4, sample1[i].am_data4);
|
||||
message("Sample:");
|
||||
message("%d: channel: %d value: %d\n",
|
||||
i + 1, sample2[i].am_channel1, sample2[i].am_data1);
|
||||
message("Sample:");
|
||||
message("%d: channel: %d value: %d\n",
|
||||
i + 1, sample2[i].am_channel2, sample2[i].am_data2);
|
||||
message("Sample:");
|
||||
message("%d: channel: %d value: %d\n",
|
||||
i + 1, sample2[i].am_channel3, sample2[i].am_data3);
|
||||
message("Sample:");
|
||||
message("%d: channel: %d value: %d\n",
|
||||
i + 1, sample2[i].am_channel4, sample2[i].am_data4);
|
||||
// message("%d: channel: %d value: %d\n",
|
||||
// i, sample9[i].am_channel, sample9[i].am_data);
|
||||
}
|
||||
message("CYCLE %d:\n", j);
|
||||
|
||||
message("channel: %d value: %d\n",
|
||||
(int)sample1.am_channel1, sample1.am_data1);
|
||||
message("channel: %d value: %d",
|
||||
(int)sample1.am_channel2, sample1.am_data2);
|
||||
message("channel: %d value: %d",
|
||||
(int)sample1.am_channel3, sample1.am_data3);
|
||||
message("channel: %d value: %d",
|
||||
(int)sample1.am_channel4, sample1.am_data4);
|
||||
}
|
||||
}
|
||||
fflush(stdout);
|
||||
}
|
||||
|
||||
printf("\t ADC test successful.\n");
|
||||
message("\t ADC test successful.");
|
||||
|
||||
errout_with_dev:
|
||||
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
* Author: Lorenz Meier <lm@inf.ethz.ch>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
|
|
@ -36,7 +36,7 @@
|
|||
* @file test_sensors.c
|
||||
* Tests the onboard sensors.
|
||||
*
|
||||
* The sensors app must not be running when performing this test.
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
*/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
|
@ -56,7 +56,10 @@
|
|||
|
||||
#include "tests.h"
|
||||
|
||||
#include <drivers/drv_gyro.h>
|
||||
#include <drivers/drv_accel.h>
|
||||
#include <drivers/drv_mag.h>
|
||||
#include <drivers/drv_baro.h>
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
|
|
@ -70,8 +73,10 @@
|
|||
* Private Function Prototypes
|
||||
****************************************************************************/
|
||||
|
||||
//static int lis331(int argc, char *argv[]);
|
||||
static int mpu6000(int argc, char *argv[]);
|
||||
static int accel(int argc, char *argv[]);
|
||||
static int gyro(int argc, char *argv[]);
|
||||
static int mag(int argc, char *argv[]);
|
||||
static int baro(int argc, char *argv[]);
|
||||
|
||||
/****************************************************************************
|
||||
* Private Data
|
||||
|
|
@ -82,7 +87,10 @@ struct {
|
|||
const char *path;
|
||||
int (* test)(int argc, char *argv[]);
|
||||
} sensors[] = {
|
||||
{"mpu6000", "/dev/accel", mpu6000},
|
||||
{"accel", "/dev/accel", accel},
|
||||
{"gyro", "/dev/gyro", gyro},
|
||||
{"mag", "/dev/mag", mag},
|
||||
{"baro", "/dev/baro", baro},
|
||||
{NULL, NULL, NULL}
|
||||
};
|
||||
|
||||
|
|
@ -95,9 +103,9 @@ struct {
|
|||
****************************************************************************/
|
||||
|
||||
static int
|
||||
mpu6000(int argc, char *argv[])
|
||||
accel(int argc, char *argv[])
|
||||
{
|
||||
printf("\tMPU-6000: test start\n");
|
||||
printf("\tACCEL: test start\n");
|
||||
fflush(stdout);
|
||||
|
||||
int fd;
|
||||
|
|
@ -107,7 +115,7 @@ mpu6000(int argc, char *argv[])
|
|||
fd = open("/dev/accel", O_RDONLY);
|
||||
|
||||
if (fd < 0) {
|
||||
printf("\tMPU-6000: open fail, run <mpu6000 start> first.\n");
|
||||
printf("\tACCEL: open fail, run <mpu6000 start> or <lsm303 start> or <bma180 start> first.\n");
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
|
|
@ -118,11 +126,11 @@ mpu6000(int argc, char *argv[])
|
|||
ret = read(fd, &buf, sizeof(buf));
|
||||
|
||||
if (ret < 3) {
|
||||
printf("\tMPU-6000: read1 fail (%d)\n", ret);
|
||||
printf("\tACCEL: read1 fail (%d)\n", ret);
|
||||
return ERROR;
|
||||
|
||||
} else {
|
||||
printf("\tMPU-6000 values: acc: x:%8.4f\ty:%8.4f\tz:%8.4f\n", (double)buf.x, (double)buf.y, (double)buf.z);//\tgyro: r:%d\tp:%d\ty:%d\n", buf[0], buf[1], buf[2], buf[3], buf[4], buf[5]);
|
||||
printf("\tACCEL accel: x:%8.4f\ty:%8.4f\tz:%8.4f m/s^2\n", (double)buf.x, (double)buf.y, (double)buf.z);
|
||||
}
|
||||
|
||||
// /* wait at least 10ms, sensor should have data after no more than 2ms */
|
||||
|
|
@ -141,7 +149,118 @@ mpu6000(int argc, char *argv[])
|
|||
/* XXX more tests here */
|
||||
|
||||
/* Let user know everything is ok */
|
||||
printf("\tOK: MPU-6000 passed all tests successfully\n");
|
||||
printf("\tOK: ACCEL passed all tests successfully\n");
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
static int
|
||||
gyro(int argc, char *argv[])
|
||||
{
|
||||
printf("\tGYRO: test start\n");
|
||||
fflush(stdout);
|
||||
|
||||
int fd;
|
||||
struct gyro_report buf;
|
||||
int ret;
|
||||
|
||||
fd = open("/dev/gyro", O_RDONLY);
|
||||
|
||||
if (fd < 0) {
|
||||
printf("\tGYRO: open fail, run <l3gd20 start> or <mpu6000 start> first.\n");
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
/* wait at least 5 ms, sensor should have data after that */
|
||||
usleep(5000);
|
||||
|
||||
/* read data - expect samples */
|
||||
ret = read(fd, &buf, sizeof(buf));
|
||||
|
||||
if (ret < 3) {
|
||||
printf("\tGYRO: read fail (%d)\n", ret);
|
||||
return ERROR;
|
||||
|
||||
} else {
|
||||
printf("\tGYRO rates: x:%8.4f\ty:%8.4f\tz:%8.4f rad/s\n", (double)buf.x, (double)buf.y, (double)buf.z);
|
||||
}
|
||||
|
||||
/* Let user know everything is ok */
|
||||
printf("\tOK: GYRO passed all tests successfully\n");
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
static int
|
||||
mag(int argc, char *argv[])
|
||||
{
|
||||
printf("\tMAG: test start\n");
|
||||
fflush(stdout);
|
||||
|
||||
int fd;
|
||||
struct mag_report buf;
|
||||
int ret;
|
||||
|
||||
fd = open("/dev/mag", O_RDONLY);
|
||||
|
||||
if (fd < 0) {
|
||||
printf("\tMAG: open fail, run <hmc5883 start> or <lsm303 start> first.\n");
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
/* wait at least 5 ms, sensor should have data after that */
|
||||
usleep(5000);
|
||||
|
||||
/* read data - expect samples */
|
||||
ret = read(fd, &buf, sizeof(buf));
|
||||
|
||||
if (ret < 3) {
|
||||
printf("\tMAG: read fail (%d)\n", ret);
|
||||
return ERROR;
|
||||
|
||||
} else {
|
||||
printf("\tMAG values: x:%8.4f\ty:%8.4f\tz:%8.4f\n", (double)buf.x, (double)buf.y, (double)buf.z);
|
||||
}
|
||||
|
||||
/* Let user know everything is ok */
|
||||
printf("\tOK: MAG passed all tests successfully\n");
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
static int
|
||||
baro(int argc, char *argv[])
|
||||
{
|
||||
printf("\tBARO: test start\n");
|
||||
fflush(stdout);
|
||||
|
||||
int fd;
|
||||
struct baro_report buf;
|
||||
int ret;
|
||||
|
||||
fd = open("/dev/baro", O_RDONLY);
|
||||
|
||||
if (fd < 0) {
|
||||
printf("\tBARO: open fail, run <ms5611 start> or <lps331 start> first.\n");
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
/* wait at least 5 ms, sensor should have data after that */
|
||||
usleep(5000);
|
||||
|
||||
/* read data - expect samples */
|
||||
ret = read(fd, &buf, sizeof(buf));
|
||||
|
||||
if (ret < 3) {
|
||||
printf("\tBARO: read fail (%d)\n", ret);
|
||||
return ERROR;
|
||||
|
||||
} else {
|
||||
printf("\tBARO pressure: %8.4f mbar\talt: %8.4f m\ttemp: %8.4f deg C\n", (double)buf.pressure, (double)buf.altitude, (double)buf.temperature);
|
||||
}
|
||||
|
||||
/* Let user know everything is ok */
|
||||
printf("\tOK: BARO passed all tests successfully\n");
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -34,9 +34,9 @@
|
|||
|
||||
/**
|
||||
* @file sensors.cpp
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
*
|
||||
* Sensor readout process.
|
||||
*
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
*/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
|
|
|||
|
|
@ -168,6 +168,7 @@ mixer_load_simple(Mixer::ControlCallback control_cb, uintptr_t cb_handle, int fd
|
|||
|
||||
/* let's assume we're going to read a simple mixer */
|
||||
mixinfo = (mixer_simple_s *)malloc(MIXER_SIMPLE_SIZE(inputs));
|
||||
mixinfo->control_count = inputs;
|
||||
|
||||
/* first, get the output scaler */
|
||||
ret = mixer_getline(fd, buf, sizeof(buf));
|
||||
|
|
|
|||
|
|
@ -73,6 +73,20 @@ struct perf_ctr_elapsed {
|
|||
uint64_t time_most;
|
||||
};
|
||||
|
||||
/**
|
||||
* PC_INTERVAL counter.
|
||||
*/
|
||||
struct perf_ctr_interval {
|
||||
struct perf_ctr_header hdr;
|
||||
uint64_t event_count;
|
||||
uint64_t time_event;
|
||||
uint64_t time_first;
|
||||
uint64_t time_last;
|
||||
uint64_t time_least;
|
||||
uint64_t time_most;
|
||||
|
||||
};
|
||||
|
||||
/**
|
||||
* List of all known counters.
|
||||
*/
|
||||
|
|
@ -93,6 +107,10 @@ perf_alloc(enum perf_counter_type type, const char *name)
|
|||
ctr = (perf_counter_t)calloc(sizeof(struct perf_ctr_elapsed), 1);
|
||||
break;
|
||||
|
||||
case PC_INTERVAL:
|
||||
ctr = (perf_counter_t)calloc(sizeof(struct perf_ctr_interval), 1);
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
|
@ -127,6 +145,32 @@ perf_count(perf_counter_t handle)
|
|||
((struct perf_ctr_count *)handle)->event_count++;
|
||||
break;
|
||||
|
||||
case PC_INTERVAL: {
|
||||
struct perf_ctr_interval *pci = (struct perf_ctr_interval *)handle;
|
||||
hrt_abstime now = hrt_absolute_time();
|
||||
|
||||
switch (pci->event_count) {
|
||||
case 0:
|
||||
pci->time_first = now;
|
||||
break;
|
||||
case 1:
|
||||
pci->time_least = now - pci->time_last;
|
||||
pci->time_most = now - pci->time_last;
|
||||
break;
|
||||
default: {
|
||||
hrt_abstime interval = now - pci->time_last;
|
||||
if (interval < pci->time_least)
|
||||
pci->time_least = interval;
|
||||
if (interval > pci->time_most)
|
||||
pci->time_most = interval;
|
||||
break;
|
||||
}
|
||||
}
|
||||
pci->time_last = now;
|
||||
pci->event_count++;
|
||||
break;
|
||||
}
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
|
@ -187,13 +231,29 @@ perf_print_counter(perf_counter_t handle)
|
|||
((struct perf_ctr_count *)handle)->event_count);
|
||||
break;
|
||||
|
||||
case PC_ELAPSED:
|
||||
case PC_ELAPSED: {
|
||||
struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle;
|
||||
|
||||
printf("%s: %llu events, %lluus elapsed, min %lluus max %lluus\n",
|
||||
handle->name,
|
||||
((struct perf_ctr_elapsed *)handle)->event_count,
|
||||
((struct perf_ctr_elapsed *)handle)->time_total,
|
||||
((struct perf_ctr_elapsed *)handle)->time_least,
|
||||
((struct perf_ctr_elapsed *)handle)->time_most);
|
||||
pce->event_count,
|
||||
pce->time_total,
|
||||
pce->time_least,
|
||||
pce->time_most);
|
||||
break;
|
||||
}
|
||||
|
||||
case PC_INTERVAL: {
|
||||
struct perf_ctr_interval *pci = (struct perf_ctr_interval *)handle;
|
||||
|
||||
printf("%s: %llu events, %llu avg, min %lluus max %lluus\n",
|
||||
handle->name,
|
||||
pci->event_count,
|
||||
(pci->time_last - pci->time_first) / pci->event_count,
|
||||
pci->time_least,
|
||||
pci->time_most);
|
||||
break;
|
||||
}
|
||||
|
||||
default:
|
||||
break;
|
||||
|
|
|
|||
|
|
@ -44,7 +44,8 @@
|
|||
*/
|
||||
enum perf_counter_type {
|
||||
PC_COUNT, /**< count the number of times an event occurs */
|
||||
PC_ELAPSED /**< measure the time elapsed performing an event */
|
||||
PC_ELAPSED, /**< measure the time elapsed performing an event */
|
||||
PC_INTERVAL /**< measure the interval between instances of an event */
|
||||
};
|
||||
|
||||
struct perf_ctr_header;
|
||||
|
|
|
|||
|
|
@ -1,9 +1,9 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
|
||||
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
|
||||
* @author Julian Oes <joes@student.ethz.ch>
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Author: Lorenz Meier <lm@inf.ethz.ch>
|
||||
* Thomas Gubler <thomasgubler@student.ethz.ch>
|
||||
* Julian Oes <joes@student.ethz.ch>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
|
|
@ -37,6 +37,10 @@
|
|||
/**
|
||||
* @file subsystem_info.h
|
||||
* Definition of the subsystem info topic.
|
||||
*
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
|
||||
* @author Julian Oes <joes@student.ethz.ch>
|
||||
*/
|
||||
|
||||
#ifndef TOPIC_SUBSYSTEM_INFO_H_
|
||||
|
|
|
|||
|
|
@ -96,6 +96,7 @@ CONFIGURED_APPS += drivers/stm32
|
|||
CONFIGURED_APPS += drivers/led
|
||||
CONFIGURED_APPS += drivers/stm32/tone_alarm
|
||||
CONFIGURED_APPS += drivers/px4fmu
|
||||
CONFIGURED_APPS += drivers/hil
|
||||
|
||||
# Testing stuff
|
||||
CONFIGURED_APPS += px4/sensors_bringup
|
||||
|
|
|
|||
Loading…
Reference in New Issue