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px4-firmware
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Merged public master

This commit is contained in:
Lorenz Meier 2013-08-16 16:22:38 +02:00
parent 0dc240688d 6113be111e
commit 52d15ac7b1
28 changed files with 149 additions and 100 deletions
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17
.gitignore vendored
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@ -23,10 +23,13 @@ Firmware.sublime-workspace
Images/*.bin
Images/*.px4
mavlink/include/mavlink/v0.9/
NuttX
nuttx-configs/px4io-v2/src/.depend
nuttx-configs/px4io-v2/src/Make.dep
nuttx-configs/px4io-v2/src/libboard.a
nuttx-configs/px4io-v1/src/.depend
nuttx-configs/px4io-v1/src/Make.dep
nuttx-configs/px4io-v1/src/libboard.a
/nuttx-configs/px4io-v2/src/.depend
/nuttx-configs/px4io-v2/src/Make.dep
/nuttx-configs/px4io-v2/src/libboard.a
/nuttx-configs/px4io-v1/src/.depend
/nuttx-configs/px4io-v1/src/Make.dep
/nuttx-configs/px4io-v1/src/libboard.a
/NuttX
/Documentation/doxy.log
/Documentation/html/
/Documentation/doxygen*objdb*tmp

13
Documentation/Doxyfile
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@ -429,19 +429,19 @@ SORT_BY_SCOPE_NAME = NO
# disable (NO) the todo list. This list is created by putting \todo
# commands in the documentation.
GENERATE_TODOLIST = YES
GENERATE_TODOLIST = NO
# The GENERATE_TESTLIST tag can be used to enable (YES) or
# disable (NO) the test list. This list is created by putting \test
# commands in the documentation.
GENERATE_TESTLIST = YES
GENERATE_TESTLIST = NO
# The GENERATE_BUGLIST tag can be used to enable (YES) or
# disable (NO) the bug list. This list is created by putting \bug
# commands in the documentation.
GENERATE_BUGLIST = YES
GENERATE_BUGLIST = NO
# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or
# disable (NO) the deprecated list. This list is created by putting
@ -569,7 +569,7 @@ WARN_LOGFILE = doxy.log
# directories like "/usr/src/myproject". Separate the files or directories
# with spaces.
INPUT = ../apps
INPUT = ../src
# This tag can be used to specify the character encoding of the source files
# that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is
@ -599,9 +599,8 @@ RECURSIVE = YES
# excluded from the INPUT source files. This way you can easily exclude a
# subdirectory from a directory tree whose root is specified with the INPUT tag.
EXCLUDE = ../dist/ \
../docs/html/ \
html
EXCLUDE = ../src/modules/mathlib/CMSIS \
../src/modules/attitude_estimator_ekf/codegen
# The EXCLUDE_SYMLINKS tag can be used select whether or not files or
# directories that are symbolic links (a Unix filesystem feature) are excluded

BIN
Documentation/dsm_bind.odt
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Binary file not shown.

BIN
Documentation/dsm_bind.pdf
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Binary file not shown.

5
src/drivers/drv_pwm_output.h
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@ -118,11 +118,8 @@ ORB_DECLARE(output_pwm);
/** start DSM bind */
#define DSM_BIND_START _IOC(_PWM_SERVO_BASE, 7)
/** stop DSM bind */
#define DSM_BIND_STOP _IOC(_PWM_SERVO_BASE, 8)
/** Power up DSM receiver */
#define DSM_BIND_POWER_UP _IOC(_PWM_SERVO_BASE, 9)
#define DSM_BIND_POWER_UP _IOC(_PWM_SERVO_BASE, 8)
/** set a single servo to a specific value */
#define PWM_SERVO_SET(_servo) _IOC(_PWM_SERVO_BASE, 0x20 + _servo)

63
src/drivers/px4io/px4io.cpp
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@ -194,6 +194,12 @@ private:
bool _dsm_vcc_ctl;
/**
* System armed
*/
bool _system_armed;
/**
* Trampoline to the worker task
*/
@ -363,7 +369,8 @@ PX4IO::PX4IO(device::Device *interface) :
_battery_amp_bias(0),
_battery_mamphour_total(0),
_battery_last_timestamp(0),
_dsm_vcc_ctl(false)
_dsm_vcc_ctl(false),
_system_armed(false)
{
/* we need this potentially before it could be set in task_main */
g_dev = this;
@ -580,9 +587,11 @@ void
PX4IO::task_main()
{
hrt_abstime last_poll_time = 0;
int mavlink_fd = ::open(MAVLINK_LOG_DEVICE, 0);
log("starting");
/*
* Subscribe to the appropriate PWM output topic based on whether we are the
* primary PWM output or not.
@ -690,6 +699,25 @@ PX4IO::task_main()
*/
if (fds[3].revents & POLLIN) {
parameter_update_s pupdate;
int32_t dsm_bind_val;
param_t dsm_bind_param;
// See if bind parameter has been set, and reset it to 0
param_get(dsm_bind_param = param_find("RC_DSM_BIND"), &dsm_bind_val);
if (dsm_bind_val) {
if (!_system_armed) {
if ((dsm_bind_val == 1) || (dsm_bind_val == 2)) {
mavlink_log_info(mavlink_fd, "[IO] binding dsm%c rx", dsm_bind_val == 1 ? '2' : 'x');
ioctl(nullptr, DSM_BIND_START, dsm_bind_val == 1 ? 3 : 7);
} else {
mavlink_log_info(mavlink_fd, "[IO] invalid bind type, bind request rejected");
}
} else {
mavlink_log_info(mavlink_fd, "[IO] system armed, bind request rejected");
}
dsm_bind_val = 0;
param_set(dsm_bind_param, &dsm_bind_val);
}
/* copy to reset the notification */
orb_copy(ORB_ID(parameter_update), _t_param, &pupdate);
@ -756,6 +784,8 @@ PX4IO::io_set_arming_state()
uint16_t set = 0;
uint16_t clear = 0;
_system_armed = vstatus.flag_system_armed;
if (armed.armed && !armed.lockdown) {
set |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
} else {
@ -1452,16 +1482,11 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg)
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_down);
usleep(500000);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_set_rx_out);
usleep(1000);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_up);
usleep(100000);
usleep(50000);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_send_pulses | (arg << 4));
break;
case DSM_BIND_STOP:
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_down);
usleep(50000);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_reinit_uart);
usleep(500000);
break;
case DSM_BIND_POWER_UP:
@ -1736,30 +1761,12 @@ bind(int argc, char *argv[])
else
errx(1, "unknown parameter %s, use dsm2 or dsmx", argv[2]);
/* Open console directly to grab CTRL-C signal */
int console = open("/dev/console", O_NONBLOCK | O_RDONLY | O_NOCTTY);
if (!console)
errx(1, "failed opening console");
warnx("This command will only bind DSM if satellite VCC (red wire) is controlled by relay 1.");
warnx("Press CTRL-C or 'c' when done.");
g_dev->ioctl(nullptr, DSM_BIND_START, pulses);
for (;;) {
usleep(500000L);
/* Check if user wants to quit */
char c;
if (read(console, &c, 1) == 1) {
if (c == 0x03 || c == 0x63) {
warnx("Done\n");
g_dev->ioctl(nullptr, DSM_BIND_STOP, 0);
g_dev->ioctl(nullptr, DSM_BIND_POWER_UP, 0);
close(console);
exit(0);
}
}
}
exit(0);
}
void

2
src/modules/px4iofirmware/controls.c
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@ -300,6 +300,8 @@ controls_tick() {
} else {
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_OVERRIDE;
}
} else {
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_OVERRIDE;
}
}

4
src/modules/px4iofirmware/dsm.c
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@ -129,9 +129,9 @@ dsm_bind(uint16_t cmd, int pulses)
case dsm_bind_send_pulses:
for (int i = 0; i < pulses; i++) {
stm32_gpiowrite(usart1RxAsOutp, false);
up_udelay(50);
up_udelay(25);
stm32_gpiowrite(usart1RxAsOutp, true);
up_udelay(50);
up_udelay(25);
}
break;
case dsm_bind_reinit_uart:

1
src/modules/sensors/sensor_params.c
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@ -156,6 +156,7 @@ PARAM_DEFINE_FLOAT(RC14_DZ, 0.0f);
PARAM_DEFINE_INT32(RC_TYPE, 1); /** 1 = FUTABA, 2 = Spektrum, 3 = Graupner HoTT, 4 = Turnigy 9x */
PARAM_DEFINE_INT32(RC_RL1_DSM_VCC, 0); /* Relay 1 controls DSM VCC */
PARAM_DEFINE_INT32(RC_DSM_BIND, 0); /* 0 = Idle, 1 = Start DSM2 bind, 2 = Start DSMX bind */
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
PARAM_DEFINE_FLOAT(BAT_V_SCALING, 0.0082f);

12
src/modules/sensors/sensors.cpp
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@ -257,8 +257,6 @@ private:
float battery_voltage_scaling;
int rc_rl1_DSM_VCC_control;
} _parameters; /**< local copies of interesting parameters */
struct {
@ -308,8 +306,6 @@ private:
param_t battery_voltage_scaling;
param_t rc_rl1_DSM_VCC_control;
} _parameter_handles; /**< handles for interesting parameters */
@ -544,9 +540,6 @@ Sensors::Sensors() :
_parameter_handles.battery_voltage_scaling = param_find("BAT_V_SCALING");
/* DSM VCC relay control */
_parameter_handles.rc_rl1_DSM_VCC_control = param_find("RC_RL1_DSM_VCC");
/* fetch initial parameter values */
parameters_update();
}
@ -738,11 +731,6 @@ Sensors::parameters_update()
warnx("Failed updating voltage scaling param");
}
/* relay 1 DSM VCC control */
if (param_get(_parameter_handles.rc_rl1_DSM_VCC_control, &(_parameters.rc_rl1_DSM_VCC_control)) != OK) {
warnx("Failed updating relay 1 DSM VCC control");
}
return OK;
}

4
src/modules/uORB/objects_common.cpp
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@ -37,6 +37,10 @@
* Common object definitions without a better home.
*/
/**
* @defgroup topics List of all uORB topics.
*/
#include <nuttx/config.h>
#include <drivers/drv_orb_dev.h>

9
src/modules/uORB/topics/actuator_controls.h
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@ -52,11 +52,20 @@
#define NUM_ACTUATOR_CONTROLS 8
#define NUM_ACTUATOR_CONTROL_GROUPS 4 /**< for sanity checking */
/**
* @addtogroup topics
* @{
*/
struct actuator_controls_s {
uint64_t timestamp;
float control[NUM_ACTUATOR_CONTROLS];
};
/**
* @}
*/
/* actuator control sets; this list can be expanded as more controllers emerge */
ORB_DECLARE(actuator_controls_0);
ORB_DECLARE(actuator_controls_1);

9
src/modules/uORB/topics/actuator_controls_effective.h
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@ -53,11 +53,20 @@
#define NUM_ACTUATOR_CONTROLS_EFFECTIVE NUM_ACTUATOR_CONTROLS
#define NUM_ACTUATOR_CONTROL_GROUPS_EFFECTIVE NUM_ACTUATOR_CONTROL_GROUPS /**< for sanity checking */
/**
* @addtogroup topics
* @{
*/
struct actuator_controls_effective_s {
uint64_t timestamp;
float control_effective[NUM_ACTUATOR_CONTROLS_EFFECTIVE];
};
/**
* @}
*/
/* actuator control sets; this list can be expanded as more controllers emerge */
ORB_DECLARE(actuator_controls_effective_0);
ORB_DECLARE(actuator_controls_effective_1);

9
src/modules/uORB/topics/actuator_outputs.h
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@ -52,12 +52,21 @@
#define NUM_ACTUATOR_OUTPUTS 16
#define NUM_ACTUATOR_OUTPUT_GROUPS 4 /**< for sanity checking */
/**
* @addtogroup topics
* @{
*/
struct actuator_outputs_s {
uint64_t timestamp; /**< output timestamp in us since system boot */
float output[NUM_ACTUATOR_OUTPUTS]; /**< output data, in natural output units */
int noutputs; /**< valid outputs */
};
/**
* @}
*/
/* actuator output sets; this list can be expanded as more drivers emerge */
ORB_DECLARE(actuator_outputs_0);
ORB_DECLARE(actuator_outputs_1);

1
src/modules/uORB/topics/debug_key_value.h
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@ -47,6 +47,7 @@
/**
* @addtogroup topics
* @{
*/
/**

11
src/modules/uORB/topics/esc_status.h
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@ -51,10 +51,6 @@
#include <stdbool.h>
#include "../uORB.h"
/**
* @addtogroup topics @{
*/
/**
* The number of ESCs supported.
* Current (Q2/2013) we support 8 ESCs,
@ -76,7 +72,12 @@ enum ESC_CONNECTION_TYPE {
};
/**
*
* @addtogroup topics
* @{
*/
/**
* Electronic speed controller status.
*/
struct esc_status_s
{

10
src/modules/uORB/topics/mission.h
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@ -46,11 +46,6 @@
#include <stdbool.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
enum NAV_CMD {
NAV_CMD_WAYPOINT = 0,
NAV_CMD_LOITER_TURN_COUNT,
@ -61,6 +56,11 @@ enum NAV_CMD {
NAV_CMD_TAKEOFF
};
/**
* @addtogroup topics
* @{
*/
/**
* Global position setpoint in WGS84 coordinates.
*

10
src/modules/uORB/topics/offboard_control_setpoint.h
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@ -43,11 +43,6 @@
#include <stdint.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
/**
* Off-board control inputs.
*
@ -66,6 +61,11 @@ enum OFFBOARD_CONTROL_MODE
OFFBOARD_CONTROL_MODE_MULTIROTOR_SIMPLE = 7, /**< roll / pitch rotated aligned to the takeoff orientation, throttle stabilized, yaw pos */
};
/**
* @addtogroup topics
* @{
*/
struct offboard_control_setpoint_s {
uint64_t timestamp;

1
src/modules/uORB/topics/omnidirectional_flow.h
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@ -46,6 +46,7 @@
/**
* @addtogroup topics
* @{
*/
/**

9
src/modules/uORB/topics/parameter_update.h
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@ -42,11 +42,20 @@
#include <stdint.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
struct parameter_update_s {
/** time at which the latest parameter was updated */
uint64_t timestamp;
};
/**
* @}
*/
ORB_DECLARE(parameter_update);
#endif

10
src/modules/uORB/topics/rc_channels.h
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@ -45,11 +45,6 @@
#include <stdint.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
/**
* The number of RC channel inputs supported.
* Current (Q1/2013) radios support up to 18 channels,
@ -83,6 +78,11 @@ enum RC_CHANNELS_FUNCTION
RC_CHANNELS_FUNCTION_MAX /**< indicates the number of functions. There can be more functions than RC channels. */
};
/**
* @addtogroup topics
* @{
*/
struct rc_channels_s {
uint64_t timestamp; /**< In microseconds since boot time. */

10
src/modules/uORB/topics/sensor_combined.h
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@ -46,17 +46,17 @@
#include <stdbool.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
enum MAGNETOMETER_MODE {
MAGNETOMETER_MODE_NORMAL = 0,
MAGNETOMETER_MODE_POSITIVE_BIAS,
MAGNETOMETER_MODE_NEGATIVE_BIAS
};
/**
* @addtogroup topics
* @{
*/
/**
* Sensor readings in raw and SI-unit form.
*

8
src/modules/uORB/topics/subsystem_info.h
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@ -50,10 +50,6 @@
#include <stdbool.h>
#include "../uORB.h"
/**
* @addtogroup topics
*/
enum SUBSYSTEM_TYPE
{
SUBSYSTEM_TYPE_GYRO = 1,
@ -75,6 +71,10 @@ enum SUBSYSTEM_TYPE
SUBSYSTEM_TYPE_RANGEFINDER = 131072
};
/**
* @addtogroup topics
*/
/**
* State of individual sub systems
*/

9
src/modules/uORB/topics/telemetry_status.h
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@ -50,6 +50,11 @@ enum TELEMETRY_STATUS_RADIO_TYPE {
TELEMETRY_STATUS_RADIO_TYPE_WIRE
};
/**
* @addtogroup topics
* @{
*/
struct telemetry_status_s {
uint64_t timestamp;
enum TELEMETRY_STATUS_RADIO_TYPE type; /**< type of the radio hardware */
@ -62,6 +67,10 @@ struct telemetry_status_s {
uint8_t txbuf; /**< how full the tx buffer is as a percentage */
};
/**
* @}
*/
ORB_DECLARE(telemetry_status);
#endif /* TOPIC_TELEMETRY_STATUS_H */

1
src/modules/uORB/topics/vehicle_attitude.h
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@ -48,6 +48,7 @@
/**
* @addtogroup topics
* @{
*/
/**

9
src/modules/uORB/topics/vehicle_command.h
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@ -45,11 +45,6 @@
#include <stdint.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
/**
* Commands for commander app.
*
@ -110,6 +105,10 @@ enum VEHICLE_CMD_RESULT
VEHICLE_CMD_RESULT_ENUM_END=5, /* | */
};
/**
* @addtogroup topics
* @{
*/
struct vehicle_command_s
{

4
src/modules/uORB/topics/vehicle_global_position_set_triplet.h
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@ -60,8 +60,8 @@
*/
struct vehicle_global_position_set_triplet_s
{
bool previous_valid;
bool next_valid;
bool previous_valid; /**< flag indicating previous position is valid */
bool next_valid; /**< flag indicating next position is valid */
struct vehicle_global_position_setpoint_s previous;
struct vehicle_global_position_setpoint_s current;

8
src/modules/uORB/topics/vehicle_status.h
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@ -54,10 +54,6 @@
#include <stdbool.h>
#include "../uORB.h"
/**
* @addtogroup topics @{
*/
/* State Machine */
typedef enum
{
@ -137,6 +133,10 @@ enum VEHICLE_BATTERY_WARNING {
VEHICLE_BATTERY_WARNING_ALERT /**< aleting of low voltage 2. stage */
};
/**
* @addtogroup topics
* @{
*/
/**
* state machine / state of vehicle.