forked from Archive/PX4-Autopilot
Merged
This commit is contained in:
commit
8ba3fbd0a3
|
@ -8,8 +8,10 @@
|
|||
apps/namedapp/namedapp_list.h
|
||||
apps/namedapp/namedapp_proto.h
|
||||
Make.dep
|
||||
*.pyc
|
||||
*.o
|
||||
*.a
|
||||
*.d
|
||||
*~
|
||||
*.dSYM
|
||||
Images/*.bin
|
||||
|
@ -42,3 +44,9 @@ cscope.out
|
|||
.configX-e
|
||||
nuttx-export.zip
|
||||
dot.gdbinit
|
||||
mavlink/include/mavlink/v0.9/
|
||||
.*.swp
|
||||
.swp
|
||||
core
|
||||
.gdbinit
|
||||
mkdeps
|
||||
|
|
|
@ -0,0 +1,54 @@
|
|||
#
|
||||
# Various PX4-specific macros
|
||||
#
|
||||
source Debug/NuttX
|
||||
|
||||
echo Loading PX4 GDB macros. Use 'help px4' for more information.\n
|
||||
|
||||
define px4
|
||||
echo Use 'help px4' for more information.\n
|
||||
end
|
||||
|
||||
document px4
|
||||
. Various macros for working with the PX4 firmware.
|
||||
.
|
||||
. perf
|
||||
. Prints the state of all performance counters.
|
||||
.
|
||||
. Use 'help <macro>' for more specific help.
|
||||
end
|
||||
|
||||
|
||||
define _perf_print
|
||||
set $hdr = (struct perf_ctr_header *)$arg0
|
||||
printf "%p\n", $hdr
|
||||
printf "%s: ", $hdr->name
|
||||
# PC_COUNT
|
||||
if $hdr->type == 0
|
||||
set $count = (struct perf_ctr_count *)$hdr
|
||||
printf "%llu events,\n", $count->event_count;
|
||||
end
|
||||
# PC_ELPASED
|
||||
if $hdr->type == 1
|
||||
set $elapsed = (struct perf_ctr_elapsed *)$hdr
|
||||
printf "%llu events, %lluus elapsed, min %lluus, max %lluus\n", $elapsed->event_count, $elapsed->time_total, $elapsed->time_least, $elapsed->time_most
|
||||
end
|
||||
# PC_INTERVAL
|
||||
if $hdr->type == 2
|
||||
set $interval = (struct perf_ctr_interval *)$hdr
|
||||
printf "%llu events, %llu avg, min %lluus max %lluus\n", $interval->event_count, ($interval->time_last - $interval->time_first) / $interval->event_count, $interval->time_least, $interval->time_most
|
||||
end
|
||||
end
|
||||
|
||||
define perf
|
||||
set $ctr = (sq_entry_t *)(perf_counters.head)
|
||||
while $ctr != 0
|
||||
_perf_print $ctr
|
||||
set $ctr = $ctr->flink
|
||||
end
|
||||
end
|
||||
|
||||
document perf
|
||||
. perf
|
||||
. Prints performance counters.
|
||||
end
|
31
Makefile
31
Makefile
|
@ -28,12 +28,8 @@ UPLOADER = $(PX4BASE)/Tools/px_uploader.py
|
|||
# What are we currently configured for?
|
||||
#
|
||||
CONFIGURED = $(PX4BASE)/.configured
|
||||
ifeq ($(wildcard $(CONFIGURED)),)
|
||||
# the $(CONFIGURED) target will make this a reality before building
|
||||
export TARGET = px4fmu
|
||||
$(shell echo $(TARGET) > $(CONFIGURED))
|
||||
else
|
||||
export TARGET = $(shell cat $(CONFIGURED))
|
||||
ifneq ($(wildcard $(CONFIGURED)),)
|
||||
export TARGET := $(shell cat $(CONFIGURED))
|
||||
endif
|
||||
|
||||
#
|
||||
|
@ -59,12 +55,13 @@ $(FIRMWARE_BUNDLE): $(FIRMWARE_BINARY) $(MKFW) $(FIRMWARE_PROTOTYPE)
|
|||
@$(MKFW) --prototype $(FIRMWARE_PROTOTYPE) \
|
||||
--git_identity $(PX4BASE) \
|
||||
--image $(FIRMWARE_BINARY) > $@
|
||||
|
||||
#
|
||||
# Build the firmware binary.
|
||||
#
|
||||
.PHONY: $(FIRMWARE_BINARY)
|
||||
$(FIRMWARE_BINARY): configure_$(TARGET) setup_$(TARGET)
|
||||
@echo Building $@
|
||||
$(FIRMWARE_BINARY): setup_$(TARGET) configure-check
|
||||
@echo Building $@ for $(TARGET)
|
||||
@make -C $(NUTTX_SRC) -r $(MQUIET) all
|
||||
@cp $(NUTTX_SRC)/nuttx.bin $@
|
||||
|
||||
|
@ -73,19 +70,26 @@ $(FIRMWARE_BINARY): configure_$(TARGET) setup_$(TARGET)
|
|||
# and makes it current.
|
||||
#
|
||||
configure_px4fmu:
|
||||
ifneq ($(TARGET),px4fmu)
|
||||
@echo Configuring for px4fmu
|
||||
@make -C $(PX4BASE) distclean
|
||||
endif
|
||||
@cd $(NUTTX_SRC)/tools && /bin/sh configure.sh px4fmu/nsh
|
||||
@echo px4fmu > $(CONFIGURED)
|
||||
|
||||
configure_px4io:
|
||||
ifneq ($(TARGET),px4io)
|
||||
@echo Configuring for px4io
|
||||
@make -C $(PX4BASE) distclean
|
||||
endif
|
||||
@cd $(NUTTX_SRC)/tools && /bin/sh configure.sh px4io/io
|
||||
@echo px4io > $(CONFIGURED)
|
||||
|
||||
configure-check:
|
||||
ifeq ($(wildcard $(CONFIGURED)),)
|
||||
@echo
|
||||
@echo "Not configured - use 'make configure_px4fmu' or 'make configure_px4io' first"
|
||||
@echo
|
||||
@exit 1
|
||||
endif
|
||||
|
||||
|
||||
#
|
||||
# Per-configuration additional targets
|
||||
#
|
||||
|
@ -96,6 +100,9 @@ setup_px4fmu:
|
|||
|
||||
setup_px4io:
|
||||
|
||||
# fake target to make configure-check happy if TARGET is not set
|
||||
setup_:
|
||||
|
||||
#
|
||||
# Firmware uploading.
|
||||
#
|
||||
|
|
|
@ -33,7 +33,7 @@
|
|||
|
||||
6.3 2011-05-15 Gregory Nutt <gnutt@nuttx.org>
|
||||
|
||||
* apps/interpreter: Add a directory to hold interpreters. The Pascal add-
|
||||
* apps/interpreter: Add a directory to hold interpreters. The Pascal add-
|
||||
on module now installs and builds under this directory.
|
||||
* apps/interpreter/ficl: Added logic to build Ficl (the "Forth Inspired
|
||||
Command Language"). See http://ficl.sourceforge.net/.
|
||||
|
@ -349,7 +349,7 @@
|
|||
* apps/NxWidgets/Kconfig: Add option to turn on the memory monitor
|
||||
feature of the NxWidgets/NxWM unit tests.
|
||||
|
||||
6.23 2012-xx-xx Gregory Nutt <gnutt@nuttx.org>
|
||||
6.23 2012-11-05 Gregory Nutt <gnutt@nuttx.org>
|
||||
|
||||
* vsn: Moved all NSH commands from vsn/ to system/. Deleted the vsn/
|
||||
directory.
|
||||
|
@ -368,3 +368,70 @@
|
|||
recent check-ins (Darcy Gong).
|
||||
* apps/netutils/webclient/webclient.c: Fix another but that I introduced
|
||||
when I was trying to add correct handling for loss of connection (Darcy Gong)
|
||||
* apps/nshlib/nsh_telnetd.c: Add support for login to Telnet session via
|
||||
username and password (Darcy Gong).
|
||||
* apps/netutils/resolv/resolv.c (and files using the DNS resolver): Various
|
||||
DNS address resolution improvements from Darcy Gong.
|
||||
* apps/nshlib/nsh_netcmds.c: The ping command now passes a maximum round
|
||||
trip time to uip_icmpping(). This allows pinging of hosts on complex
|
||||
networks where the ICMP ECHO round trip time may exceed the ping interval.
|
||||
* apps/examples/nxtext/nxtext_main.c: Fix bad conditional compilation
|
||||
when CONFIG_NX_KBD is not defined. Submitted by Petteri Aimonen.
|
||||
* apps/examples/nximage/nximage_main.c: Add a 5 second delay after the
|
||||
NX logo is presented so that there is time for the image to be verified.
|
||||
Suggested by Petteri Aimonen.
|
||||
* apps/Makefile: Small change that reduces the number of shell invocations
|
||||
by one (Mike Smith).
|
||||
* apps/examples/elf: Test example for the ELF loader.
|
||||
* apps/examples/elf: The ELF module test example appears fully functional.
|
||||
* apps/netutils/json: Add a snapshot of the cJSON project. Contributed by
|
||||
Darcy Gong.
|
||||
* apps/examples/json: Test example for cJSON from Darcy Gong
|
||||
* apps/nshlib/nsh_netinit.c: Fix static IP DNS problem (Darcy Gong)
|
||||
* apps/netutils/resolv/resolv.c: DNS fixes from Darcy Gong.
|
||||
* COPYING: Licensing information added.
|
||||
* apps/netutils/codec and include/netutils/urldecode.h, base64.h, and md5.h:
|
||||
A port of the BASE46, MD5 and URL CODEC library from Darcy Gong.
|
||||
* nsnlib/nsh_codeccmd.c: NSH commands to use the CODEC library.
|
||||
Contributed by Darcy Gong.
|
||||
* apps/examples/wgetjson: Test example contributed by Darcy Gong
|
||||
* apps/examples/cxxtest: A test for the uClibc++ library provided by
|
||||
Qiang Yu and the RGMP team.
|
||||
* apps/netutils/webclient, apps/netutils.codes, and apps/examples/wgetjson:
|
||||
Add support for wget POST interface. Contributed by Darcy Gong.
|
||||
* apps/examples/relays: A relay example contributed by Darcy Gong.
|
||||
* apps/nshlib/nsh_netcmds: Add ifup and ifdown commands (from Darcy
|
||||
Gong).
|
||||
* apps/nshlib/nsh_netcmds: Extend the ifconfig command so that it
|
||||
supports setting IP addresses, network masks, name server addresses,
|
||||
and hardware address (from Darcy Gong).
|
||||
|
||||
6.24 2012-12-20 Gregory Nutt <gnutt@nuttx.org>
|
||||
|
||||
* apps/examples/ostest/roundrobin.c: Replace large tables with
|
||||
algorithmic prime number generation. This allows the roundrobin
|
||||
test to run on platforms with minimal SRAM (Freddie Chopin).
|
||||
* apps/nshlib/nsh_dbgcmds.c: Add hexdump command to dump the contents
|
||||
of a file (or character device) to the console Contributed by Petteri
|
||||
Aimonen.
|
||||
* apps/examples/modbus: Fixes from Freddie Chopin
|
||||
* apps/examples/modbus/Kconfig: Kconfig logic for FreeModBus contributed
|
||||
by Freddie Chopin.
|
||||
* Makefile, */Makefile: Various fixes for Windows native build. Now uses
|
||||
make foreach loops instead of shell loops.
|
||||
* apps/examples/elf/test/*/Makefile: OSX doesn't support install -D, use
|
||||
mkdir -p then install without the -D. From Mike Smith.
|
||||
* apps/examples/relays/Makefile: Reduced stack requirement (Darcy Gong).
|
||||
* apps/nshlib and apps/netutils/dhcpc: Extend the NSH ifconfig command plus
|
||||
various DHCPC improvements(Darcy Gong).
|
||||
* apps/nshlib/nsh_apps.c: Fix compilation errors when CONFIG_NSH_DISABLEBG=y.
|
||||
From Freddie Chopin.
|
||||
* Rename CONFIG_PCODE and CONFIG_FICL as CONFIG_INTERPRETERS_PCODE and
|
||||
CONFIG_INTERPRETERS_FICL for consistency with other configuration naming.
|
||||
* apps/examples/keypadtest: A keypad test example contributed by Denis
|
||||
Carikli.
|
||||
* apps/examples/elf and nxflat: If CONFIG_BINFMT_EXEPATH is defined, these
|
||||
tests will now use a relative path to the program and expect the binfmt/
|
||||
logic to find the absolute path to the program using the PATH variable.
|
||||
|
||||
6.25 2013-xx-xx Gregory Nutt <gnutt@nuttx.org>
|
||||
|
|
|
@ -107,7 +107,7 @@ endif
|
|||
# Create the list of available applications (INSTALLED_APPS)
|
||||
|
||||
define ADD_BUILTIN
|
||||
INSTALLED_APPS += ${shell if [ -r $1/Makefile ]; then echo "$1"; fi}
|
||||
INSTALLED_APPS += $(if $(wildcard $1$(DELIM)Makefile),$1,)
|
||||
endef
|
||||
|
||||
$(foreach BUILTIN, $(CONFIGURED_APPS), $(eval $(call ADD_BUILTIN,$(BUILTIN))))
|
||||
|
@ -120,8 +120,10 @@ INSTALLED_APPS += $(EXTERNAL_APPS)
|
|||
# provided by the user (possibly as a symbolic link) to add libraries and
|
||||
# applications to the standard build from the repository.
|
||||
|
||||
INSTALLED_APPS += ${shell if [ -r external/Makefile ]; then echo "external"; fi}
|
||||
SUBDIRS += ${shell if [ -r external/Makefile ]; then echo "external"; fi}
|
||||
EXTERNAL_DIR := $(dir $(wildcard external$(DELIM)Makefile))
|
||||
|
||||
INSTALLED_APPS += $(EXTERNAL_DIR)
|
||||
SUBDIRS += $(EXTERNAL_DIR)
|
||||
|
||||
# The final build target
|
||||
|
||||
|
@ -133,48 +135,81 @@ all: $(BIN)
|
|||
.PHONY: $(INSTALLED_APPS) context depend clean distclean
|
||||
|
||||
$(INSTALLED_APPS):
|
||||
@$(MAKE) -C $@ TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)";
|
||||
$(Q) $(MAKE) -C $@ TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"
|
||||
|
||||
$(BIN): $(INSTALLED_APPS)
|
||||
@( for obj in $(OBJS) ; do \
|
||||
$(call ARCHIVE, $@, $${obj}); \
|
||||
done ; )
|
||||
|
||||
.context:
|
||||
@for dir in $(INSTALLED_APPS) ; do \
|
||||
ifeq ($(CONFIG_WINDOWS_NATIVE),y)
|
||||
$(Q) for %%G in ($(INSTALLED_APPS)) do ( \
|
||||
if exist %%G\.context del /f /q %%G\.context \
|
||||
$(MAKE) -C %%G TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)" context \
|
||||
)
|
||||
else
|
||||
$(Q) for dir in $(INSTALLED_APPS) ; do \
|
||||
rm -f $$dir/.context ; \
|
||||
$(MAKE) -C $$dir TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)" context ; \
|
||||
$(MAKE) -C $$dir TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)" context ; \
|
||||
done
|
||||
@touch $@
|
||||
endif
|
||||
$(Q) touch $@
|
||||
|
||||
context: .context
|
||||
|
||||
.depend: context Makefile $(SRCS)
|
||||
@for dir in $(INSTALLED_APPS) ; do \
|
||||
ifeq ($(CONFIG_WINDOWS_NATIVE),y)
|
||||
$(Q) for %%G in ($(INSTALLED_APPS)) do ( \
|
||||
if exist %%G\.depend del /f /q %%G\.depend \
|
||||
$(MAKE) -C %%G TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)" depend \
|
||||
)
|
||||
else
|
||||
$(Q) for dir in $(INSTALLED_APPS) ; do \
|
||||
rm -f $$dir/.depend ; \
|
||||
$(MAKE) -C $$dir TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)" depend ; \
|
||||
$(MAKE) -C $$dir TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)" depend ; \
|
||||
done
|
||||
@touch $@
|
||||
endif
|
||||
$(Q) touch $@
|
||||
|
||||
depend: .depend
|
||||
|
||||
clean:
|
||||
@for dir in $(SUBDIRS) ; do \
|
||||
ifeq ($(CONFIG_WINDOWS_NATIVE),y)
|
||||
$(Q) for %%G in ($(SUBDIRS)) do ( \
|
||||
$(MAKE) -C %%G clean TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)" \
|
||||
)
|
||||
else
|
||||
$(Q) for dir in $(SUBDIRS) ; do \
|
||||
$(MAKE) -C $$dir clean TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"; \
|
||||
done
|
||||
@rm -f $(BIN) *~ .*.swp *.o
|
||||
endif
|
||||
$(call DELFILE, $(BIN))
|
||||
$(call CLEAN)
|
||||
|
||||
distclean: # clean
|
||||
@for dir in $(SUBDIRS) ; do \
|
||||
ifeq ($(CONFIG_WINDOWS_NATIVE),y)
|
||||
$(Q) for %%G in ($(SUBDIRS)) do ( \
|
||||
$(MAKE) -C %%G distclean TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)" \
|
||||
)
|
||||
$(call DELFILE, .config)
|
||||
$(call DELFILE, .context)
|
||||
$(call DELFILE, .depend)
|
||||
$(Q) ( if exist external ( \
|
||||
echo ********************************************************" \
|
||||
echo * The external directory/link must be removed manually *" \
|
||||
echo ********************************************************" \
|
||||
)
|
||||
else
|
||||
$(Q) for dir in $(SUBDIRS) ; do \
|
||||
$(MAKE) -C $$dir distclean TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"; \
|
||||
done
|
||||
@rm -f .config .context .depend
|
||||
@( if [ -e external ]; then \
|
||||
$(call DELFILE, .config)
|
||||
$(call DELFILE, .context)
|
||||
$(call DELFILE, .depend)
|
||||
$(Q) ( if [ -e external ]; then \
|
||||
echo "********************************************************"; \
|
||||
echo "* The external directory/link must be removed manually *"; \
|
||||
echo "********************************************************"; \
|
||||
fi; \
|
||||
)
|
||||
endif
|
||||
|
||||
|
||||
|
|
|
@ -72,8 +72,10 @@
|
|||
#include <uORB/topics/battery_status.h>
|
||||
#include <uORB/topics/manual_control_setpoint.h>
|
||||
#include <uORB/topics/offboard_control_setpoint.h>
|
||||
#include <uORB/topics/home_position.h>
|
||||
#include <uORB/topics/vehicle_global_position.h>
|
||||
#include <uORB/topics/vehicle_local_position.h>
|
||||
#include <uORB/topics/vehicle_gps_position.h>
|
||||
#include <uORB/topics/vehicle_command.h>
|
||||
#include <uORB/topics/subsystem_info.h>
|
||||
#include <uORB/topics/actuator_controls.h>
|
||||
|
@ -1251,6 +1253,7 @@ int commander_thread_main(int argc, char *argv[])
|
|||
{
|
||||
/* not yet initialized */
|
||||
commander_initialized = false;
|
||||
bool home_position_set = false;
|
||||
|
||||
/* set parameters */
|
||||
failsafe_lowlevel_timeout_ms = 0;
|
||||
|
@ -1302,6 +1305,11 @@ int commander_thread_main(int argc, char *argv[])
|
|||
/* publish current state machine */
|
||||
state_machine_publish(stat_pub, ¤t_status, mavlink_fd);
|
||||
|
||||
/* home position */
|
||||
orb_advert_t home_pub = -1;
|
||||
struct home_position_s home;
|
||||
memset(&home, 0, sizeof(home));
|
||||
|
||||
if (stat_pub < 0) {
|
||||
warnx("ERROR: orb_advertise for topic vehicle_status failed.\n");
|
||||
exit(ERROR);
|
||||
|
@ -1319,9 +1327,9 @@ int commander_thread_main(int argc, char *argv[])
|
|||
uint16_t counter = 0;
|
||||
uint8_t flight_env;
|
||||
|
||||
/* Initialize to 3.0V to make sure the low-pass loads below valid threshold */
|
||||
float battery_voltage = 12.0f;
|
||||
bool battery_voltage_valid = true;
|
||||
/* Initialize to 0.0V */
|
||||
float battery_voltage = 0.0f;
|
||||
bool battery_voltage_valid = false;
|
||||
bool low_battery_voltage_actions_done = false;
|
||||
bool critical_battery_voltage_actions_done = false;
|
||||
uint8_t low_voltage_counter = 0;
|
||||
|
@ -1332,10 +1340,6 @@ int commander_thread_main(int argc, char *argv[])
|
|||
uint16_t stick_off_counter = 0;
|
||||
uint16_t stick_on_counter = 0;
|
||||
|
||||
float hdop = 65535.0f;
|
||||
|
||||
int gps_quality_good_counter = 0;
|
||||
|
||||
/* Subscribe to manual control data */
|
||||
int sp_man_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
|
||||
struct manual_control_setpoint_s sp_man;
|
||||
|
@ -1356,6 +1360,15 @@ int commander_thread_main(int argc, char *argv[])
|
|||
memset(&local_position, 0, sizeof(local_position));
|
||||
uint64_t last_local_position_time = 0;
|
||||
|
||||
/*
|
||||
* The home position is set based on GPS only, to prevent a dependency between
|
||||
* position estimator and commander. RAW GPS is more than good enough for a
|
||||
* non-flying vehicle.
|
||||
*/
|
||||
int gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
|
||||
struct vehicle_gps_position_s gps_position;
|
||||
memset(&gps_position, 0, sizeof(gps_position));
|
||||
|
||||
int sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
|
||||
struct sensor_combined_s sensors;
|
||||
memset(&sensors, 0, sizeof(sensors));
|
||||
|
@ -1411,9 +1424,6 @@ int commander_thread_main(int argc, char *argv[])
|
|||
|
||||
if (new_data) {
|
||||
orb_copy(ORB_ID(sensor_combined), sensor_sub, &sensors);
|
||||
|
||||
} else {
|
||||
sensors.battery_voltage_valid = false;
|
||||
}
|
||||
|
||||
orb_check(cmd_sub, &new_data);
|
||||
|
@ -1473,8 +1483,8 @@ int commander_thread_main(int argc, char *argv[])
|
|||
last_local_position_time = local_position.timestamp;
|
||||
}
|
||||
|
||||
/* update battery status */
|
||||
orb_check(battery_sub, &new_data);
|
||||
|
||||
if (new_data) {
|
||||
orb_copy(ORB_ID(battery_status), battery_sub, &battery);
|
||||
battery_voltage = battery.voltage_v;
|
||||
|
@ -1663,65 +1673,57 @@ int commander_thread_main(int argc, char *argv[])
|
|||
state_changed = true;
|
||||
}
|
||||
|
||||
if (orb_check(ORB_ID(vehicle_gps_position), &new_data)) {
|
||||
|
||||
/* Check if last transition deserved an audio event */
|
||||
// #warning This code depends on state that is no longer? maintained
|
||||
// #if 0
|
||||
// trigger_audio_alarm(vehicle_mode_previous, vehicle_state_previous, current_status.mode, current_status.state_machine);
|
||||
// #endif
|
||||
orb_copy(ORB_ID(vehicle_gps_position), gps_sub, &gps_position);
|
||||
|
||||
/* only check gps fix if we are outdoor */
|
||||
// if (flight_env == PX4_FLIGHT_ENVIRONMENT_OUTDOOR) {
|
||||
//
|
||||
// hdop = (float)(gps.eph) / 100.0f;
|
||||
//
|
||||
// /* check if gps fix is ok */
|
||||
// if (gps.fix_type == GPS_FIX_TYPE_3D) { //TODO: is 2d-fix ok? //see http://en.wikipedia.org/wiki/Dilution_of_precision_%28GPS%29
|
||||
//
|
||||
// if (gotfix_counter >= GPS_GOTFIX_COUNTER_REQUIRED) { //TODO: add also a required time?
|
||||
// update_state_machine_got_position_fix(stat_pub, ¤t_status);
|
||||
// gotfix_counter = 0;
|
||||
// } else {
|
||||
// gotfix_counter++;
|
||||
// }
|
||||
// nofix_counter = 0;
|
||||
//
|
||||
// if (hdop < 5.0f) { //TODO: this should be a parameter
|
||||
// if (gps_quality_good_counter > GPS_QUALITY_GOOD_COUNTER_LIMIT) {
|
||||
// current_status.gps_valid = true;//--> position estimator can use the gps measurements
|
||||
// }
|
||||
//
|
||||
// gps_quality_good_counter++;
|
||||
//
|
||||
//
|
||||
//// if(counter%10 == 0)//for testing only
|
||||
//// warnx("gps_quality_good_counter = %u\n", gps_quality_good_counter);//for testing only
|
||||
//
|
||||
// } else {
|
||||
// gps_quality_good_counter = 0;
|
||||
// current_status.gps_valid = false;//--> position estimator can not use the gps measurements
|
||||
// }
|
||||
//
|
||||
// } else {
|
||||
// gps_quality_good_counter = 0;
|
||||
// current_status.gps_valid = false;//--> position estimator can not use the gps measurements
|
||||
//
|
||||
// if (nofix_counter > GPS_NOFIX_COUNTER_LIMIT) { //TODO: add also a timer limit?
|
||||
// update_state_machine_no_position_fix(stat_pub, ¤t_status);
|
||||
// nofix_counter = 0;
|
||||
// } else {
|
||||
// nofix_counter++;
|
||||
// }
|
||||
// gotfix_counter = 0;
|
||||
// }
|
||||
//
|
||||
// }
|
||||
//
|
||||
//
|
||||
// if (flight_env == PX4_FLIGHT_ENVIRONMENT_TESTING) //simulate position fix for quick indoor tests
|
||||
//update_state_machine_got_position_fix(stat_pub, ¤t_status, mavlink_fd);
|
||||
/* end: check gps */
|
||||
/* check for first, long-term and valid GPS lock -> set home position */
|
||||
float hdop_m = gps_position.eph / 100.0f;
|
||||
float vdop_m = gps_position.epv / 100.0f;
|
||||
|
||||
/* check if gps fix is ok */
|
||||
// XXX magic number
|
||||
float dop_threshold_m = 2.0f;
|
||||
|
||||
/*
|
||||
* If horizontal dilution of precision (hdop / eph)
|
||||
* and vertical diluation of precision (vdop / epv)
|
||||
* are below a certain threshold (e.g. 4 m), AND
|
||||
* home position is not yet set AND the last GPS
|
||||
* GPS measurement is not older than two seconds AND
|
||||
* the system is currently not armed, set home
|
||||
* position to the current position.
|
||||
*/
|
||||
if (gps_position.fix_type == GPS_FIX_TYPE_3D && (hdop_m < dop_threshold_m)
|
||||
&& (vdop_m < dop_threshold_m)
|
||||
&& !home_position_set
|
||||
&& (hrt_absolute_time() - gps_position.timestamp < 2000000)
|
||||
&& !current_status.flag_system_armed) {
|
||||
warnx("setting home position");
|
||||
|
||||
/* copy position data to uORB home message, store it locally as well */
|
||||
home.lat = gps_position.lat;
|
||||
home.lon = gps_position.lon;
|
||||
home.alt = gps_position.alt;
|
||||
|
||||
home.eph = gps_position.eph;
|
||||
home.epv = gps_position.epv;
|
||||
|
||||
home.s_variance = gps_position.s_variance;
|
||||
home.p_variance = gps_position.p_variance;
|
||||
|
||||
/* announce new home position */
|
||||
if (home_pub > 0) {
|
||||
orb_publish(ORB_ID(home_position), home_pub, &home);
|
||||
} else {
|
||||
home_pub = orb_advertise(ORB_ID(home_position), &home);
|
||||
}
|
||||
|
||||
/* mark home position as set */
|
||||
home_position_set = true;
|
||||
tune_confirm();
|
||||
}
|
||||
}
|
||||
|
||||
/* ignore RC signals if in offboard control mode */
|
||||
if (!current_status.offboard_control_signal_found_once && sp_man.timestamp != 0) {
|
||||
|
@ -1848,15 +1850,16 @@ int commander_thread_main(int argc, char *argv[])
|
|||
update_state_machine_mode_manual(stat_pub, ¤t_status, mavlink_fd);
|
||||
|
||||
} else if (sp_man.manual_override_switch < -STICK_ON_OFF_LIMIT) {
|
||||
/* check auto mode switch for correct mode */
|
||||
if (sp_man.auto_mode_switch > STICK_ON_OFF_LIMIT) {
|
||||
/* enable guided mode */
|
||||
update_state_machine_mode_guided(stat_pub, ¤t_status, mavlink_fd);
|
||||
// /* check auto mode switch for correct mode */
|
||||
// if (sp_man.auto_mode_switch > STICK_ON_OFF_LIMIT) {
|
||||
// /* enable guided mode */
|
||||
// update_state_machine_mode_guided(stat_pub, ¤t_status, mavlink_fd);
|
||||
|
||||
} else if (sp_man.auto_mode_switch < -STICK_ON_OFF_LIMIT) {
|
||||
// } else if (sp_man.auto_mode_switch < -STICK_ON_OFF_LIMIT) {
|
||||
// XXX hardcode to auto for now
|
||||
update_state_machine_mode_auto(stat_pub, ¤t_status, mavlink_fd);
|
||||
|
||||
}
|
||||
// }
|
||||
|
||||
} else {
|
||||
/* center stick position, set SAS for all vehicle types */
|
||||
|
@ -2044,4 +2047,3 @@ int commander_thread_main(int argc, char *argv[])
|
|||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
|
|
@ -134,7 +134,8 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
|
|||
|
||||
case SYSTEM_STATE_REBOOT:
|
||||
if (current_status->state_machine == SYSTEM_STATE_STANDBY
|
||||
|| current_status->state_machine == SYSTEM_STATE_PREFLIGHT) {
|
||||
|| current_status->state_machine == SYSTEM_STATE_PREFLIGHT
|
||||
|| current_status->flag_hil_enabled) {
|
||||
invalid_state = false;
|
||||
/* set system flags according to state */
|
||||
current_status->flag_system_armed = false;
|
||||
|
@ -708,7 +709,9 @@ uint8_t update_state_machine_custom_mode_request(int status_pub, struct vehicle_
|
|||
case SYSTEM_STATE_REBOOT:
|
||||
printf("try to reboot\n");
|
||||
|
||||
if (current_system_state == SYSTEM_STATE_STANDBY || current_system_state == SYSTEM_STATE_PREFLIGHT) {
|
||||
if (current_system_state == SYSTEM_STATE_STANDBY
|
||||
|| current_system_state == SYSTEM_STATE_PREFLIGHT
|
||||
|| current_status->flag_hil_enabled) {
|
||||
printf("system will reboot\n");
|
||||
mavlink_log_critical(mavlink_fd, "Rebooting..");
|
||||
usleep(200000);
|
||||
|
|
|
@ -43,11 +43,4 @@ CXXSRCS = block/Block.cpp \
|
|||
blocks.cpp \
|
||||
fixedwing.cpp
|
||||
|
||||
CXXHDRS = block/Block.hpp \
|
||||
block/BlockParam.hpp \
|
||||
block/UOrbPublication.hpp \
|
||||
block/UOrbSubscription.hpp \
|
||||
blocks.hpp \
|
||||
fixedwing.hpp
|
||||
|
||||
include $(APPDIR)/mk/app.mk
|
||||
|
|
|
@ -35,9 +35,61 @@
|
|||
* @file blinkm.cpp
|
||||
*
|
||||
* Driver for the BlinkM LED controller connected via I2C.
|
||||
*
|
||||
* Connect the BlinkM to I2C3 and put the following line to the rc startup-script:
|
||||
* blinkm start
|
||||
*
|
||||
* To start the system monitor put in the next line after the blinkm start:
|
||||
* blinkm systemmonitor
|
||||
*
|
||||
*
|
||||
* Description:
|
||||
* After startup, the Application checked how many lipo cells are connected to the System.
|
||||
* The recognized number off cells, will be blinked 5 times in purple color.
|
||||
* 2 Cells = 2 blinks
|
||||
* ...
|
||||
* 5 Cells = 5 blinks
|
||||
* Now the Application will show the actual selected Flightmode, GPS-Fix and Battery Warnings and Alerts.
|
||||
*
|
||||
* System disarmed:
|
||||
* The BlinkM should lit solid red.
|
||||
*
|
||||
* System armed:
|
||||
* One message is made of 4 Blinks and a pause in the same length as the 4 blinks.
|
||||
*
|
||||
* X-X-X-X-_-_-_-_-
|
||||
* -------------------------
|
||||
* G G G M
|
||||
* P P P O
|
||||
* S S S D
|
||||
* E
|
||||
*
|
||||
* (X = on, _=off)
|
||||
*
|
||||
* The first 3 blinks indicates the status of the GPS-Signal (red):
|
||||
* 0-4 satellites = X-X-X-X-_-_-_-_-
|
||||
* 5 satellites = X-X-_-X-_-_-_-_-
|
||||
* 6 satellites = X-_-_-X-_-_-_-_-
|
||||
* >=7 satellites = _-_-_-X-_-_-_-_-
|
||||
* If no GPS is found the first 3 blinks are white
|
||||
*
|
||||
* The fourth Blink indicates the Flightmode:
|
||||
* MANUAL : off
|
||||
* STABILIZED : yellow
|
||||
* HOLD : blue
|
||||
* AUTO : green
|
||||
*
|
||||
* Battery Warning (low Battery Level):
|
||||
* Continuously blinking in yellow X-X-X-X-X-X-X-X
|
||||
*
|
||||
* Battery Alert (critical Battery Level)
|
||||
* Continuously blinking in red X-X-X-X-X-X-X-X
|
||||
*
|
||||
* General Error (no uOrb Data)
|
||||
* Continuously blinking in white X-X-X-X-X-X-X-X
|
||||
*
|
||||
*/
|
||||
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <drivers/device/i2c.h>
|
||||
|
@ -59,15 +111,28 @@
|
|||
#include <systemlib/perf_counter.h>
|
||||
#include <systemlib/err.h>
|
||||
|
||||
#include <systemlib/systemlib.h>
|
||||
#include <poll.h>
|
||||
#include <uORB/uORB.h>
|
||||
#include <uORB/topics/vehicle_status.h>
|
||||
#include <uORB/topics/vehicle_gps_position.h>
|
||||
|
||||
static const float MAX_CELL_VOLTAGE = 4.3f;
|
||||
static const int LED_ONTIME = 100;
|
||||
static const int LED_OFFTIME = 100;
|
||||
static const int LED_BLINK = 1;
|
||||
static const int LED_NOBLINK = 0;
|
||||
|
||||
class BlinkM : public device::I2C
|
||||
{
|
||||
public:
|
||||
BlinkM(int bus);
|
||||
~BlinkM();
|
||||
|
||||
|
||||
virtual int init();
|
||||
virtual int probe();
|
||||
|
||||
virtual int setMode(int mode);
|
||||
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
|
||||
|
||||
static const char *script_names[];
|
||||
|
@ -95,11 +160,31 @@ private:
|
|||
MORSE_CODE
|
||||
};
|
||||
|
||||
work_s _work;
|
||||
static const unsigned _monitor_interval = 250;
|
||||
enum ledColors {
|
||||
LED_OFF,
|
||||
LED_RED,
|
||||
LED_YELLOW,
|
||||
LED_PURPLE,
|
||||
LED_GREEN,
|
||||
LED_BLUE,
|
||||
LED_WHITE
|
||||
};
|
||||
|
||||
static void monitor_trampoline(void *arg);
|
||||
void monitor();
|
||||
work_s _work;
|
||||
|
||||
int led_color_1;
|
||||
int led_color_2;
|
||||
int led_color_3;
|
||||
int led_color_4;
|
||||
int led_color_5;
|
||||
int led_color_6;
|
||||
int led_blink;
|
||||
|
||||
bool systemstate_run;
|
||||
|
||||
void setLEDColor(int ledcolor);
|
||||
static void led_trampoline(void *arg);
|
||||
void led();
|
||||
|
||||
int set_rgb(uint8_t r, uint8_t g, uint8_t b);
|
||||
|
||||
|
@ -127,8 +212,7 @@ private:
|
|||
/* for now, we only support one BlinkM */
|
||||
namespace
|
||||
{
|
||||
BlinkM *g_blinkm;
|
||||
|
||||
BlinkM *g_blinkm;
|
||||
}
|
||||
|
||||
/* list of script names, must match script ID numbers */
|
||||
|
@ -155,11 +239,21 @@ const char *BlinkM::script_names[] = {
|
|||
nullptr
|
||||
};
|
||||
|
||||
|
||||
extern "C" __EXPORT int blinkm_main(int argc, char *argv[]);
|
||||
|
||||
BlinkM::BlinkM(int bus) :
|
||||
I2C("blinkm", BLINKM_DEVICE_PATH, bus, 0x09, 100000)
|
||||
I2C("blinkm", BLINKM_DEVICE_PATH, bus, 0x09, 100000),
|
||||
led_color_1(LED_OFF),
|
||||
led_color_2(LED_OFF),
|
||||
led_color_3(LED_OFF),
|
||||
led_color_4(LED_OFF),
|
||||
led_color_5(LED_OFF),
|
||||
led_color_6(LED_OFF),
|
||||
led_blink(LED_NOBLINK),
|
||||
systemstate_run(false)
|
||||
{
|
||||
memset(&_work, 0, sizeof(_work));
|
||||
}
|
||||
|
||||
BlinkM::~BlinkM()
|
||||
|
@ -170,7 +264,6 @@ int
|
|||
BlinkM::init()
|
||||
{
|
||||
int ret;
|
||||
|
||||
ret = I2C::init();
|
||||
|
||||
if (ret != OK) {
|
||||
|
@ -178,14 +271,25 @@ BlinkM::init()
|
|||
return ret;
|
||||
}
|
||||
|
||||
/* set some sensible defaults */
|
||||
set_fade_speed(25);
|
||||
stop_script();
|
||||
set_rgb(0,0,0);
|
||||
|
||||
/* turn off by default */
|
||||
play_script(BLACK);
|
||||
return OK;
|
||||
}
|
||||
|
||||
/* start the system monitor as a low-priority workqueue entry */
|
||||
work_queue(LPWORK, &_work, (worker_t)&BlinkM::monitor_trampoline, this, 1);
|
||||
int
|
||||
BlinkM::setMode(int mode)
|
||||
{
|
||||
if(mode == 1) {
|
||||
if(systemstate_run == false) {
|
||||
stop_script();
|
||||
set_rgb(0,0,0);
|
||||
systemstate_run = true;
|
||||
work_queue(LPWORK, &_work, (worker_t)&BlinkM::led_trampoline, this, 1);
|
||||
}
|
||||
} else {
|
||||
systemstate_run = false;
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
@ -249,21 +353,300 @@ BlinkM::ioctl(struct file *filp, int cmd, unsigned long arg)
|
|||
return ret;
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
BlinkM::monitor_trampoline(void *arg)
|
||||
BlinkM::led_trampoline(void *arg)
|
||||
{
|
||||
BlinkM *bm = (BlinkM *)arg;
|
||||
|
||||
bm->monitor();
|
||||
bm->led();
|
||||
}
|
||||
|
||||
void
|
||||
BlinkM::monitor()
|
||||
{
|
||||
/* check system state, possibly update LED to suit */
|
||||
|
||||
/* re-queue ourselves to run again later */
|
||||
work_queue(LPWORK, &_work, (worker_t)&BlinkM::monitor_trampoline, this, _monitor_interval);
|
||||
|
||||
void
|
||||
BlinkM::led()
|
||||
{
|
||||
|
||||
static int vehicle_status_sub_fd;
|
||||
static int vehicle_gps_position_sub_fd;
|
||||
|
||||
static int num_of_cells = 0;
|
||||
static int detected_cells_runcount = 0;
|
||||
|
||||
static int t_led_color[6] = { 0, 0, 0, 0, 0, 0};
|
||||
static int t_led_blink = 0;
|
||||
static int led_thread_runcount=0;
|
||||
static int led_interval = 1000;
|
||||
|
||||
static int no_data_vehicle_status = 0;
|
||||
static int no_data_vehicle_gps_position = 0;
|
||||
|
||||
static bool topic_initialized = false;
|
||||
static bool detected_cells_blinked = false;
|
||||
static bool led_thread_ready = true;
|
||||
|
||||
int num_of_used_sats = 0;
|
||||
|
||||
if(!topic_initialized) {
|
||||
vehicle_status_sub_fd = orb_subscribe(ORB_ID(vehicle_status));
|
||||
orb_set_interval(vehicle_status_sub_fd, 1000);
|
||||
|
||||
vehicle_gps_position_sub_fd = orb_subscribe(ORB_ID(vehicle_gps_position));
|
||||
orb_set_interval(vehicle_gps_position_sub_fd, 1000);
|
||||
|
||||
topic_initialized = true;
|
||||
}
|
||||
|
||||
if(led_thread_ready == true) {
|
||||
if(!detected_cells_blinked) {
|
||||
if(num_of_cells > 0) {
|
||||
t_led_color[0] = LED_PURPLE;
|
||||
}
|
||||
if(num_of_cells > 1) {
|
||||
t_led_color[1] = LED_PURPLE;
|
||||
}
|
||||
if(num_of_cells > 2) {
|
||||
t_led_color[2] = LED_PURPLE;
|
||||
}
|
||||
if(num_of_cells > 3) {
|
||||
t_led_color[3] = LED_PURPLE;
|
||||
}
|
||||
if(num_of_cells > 4) {
|
||||
t_led_color[4] = LED_PURPLE;
|
||||
}
|
||||
t_led_color[5] = LED_OFF;
|
||||
t_led_blink = LED_BLINK;
|
||||
} else {
|
||||
t_led_color[0] = led_color_1;
|
||||
t_led_color[1] = led_color_2;
|
||||
t_led_color[2] = led_color_3;
|
||||
t_led_color[3] = led_color_4;
|
||||
t_led_color[4] = led_color_5;
|
||||
t_led_color[5] = led_color_6;
|
||||
t_led_blink = led_blink;
|
||||
}
|
||||
led_thread_ready = false;
|
||||
}
|
||||
|
||||
if (led_thread_runcount & 1) {
|
||||
if (t_led_blink)
|
||||
setLEDColor(LED_OFF);
|
||||
led_interval = LED_OFFTIME;
|
||||
} else {
|
||||
setLEDColor(t_led_color[(led_thread_runcount / 2) % 6]);
|
||||
//led_interval = (led_thread_runcount & 1) : LED_ONTIME;
|
||||
led_interval = LED_ONTIME;
|
||||
}
|
||||
|
||||
if (led_thread_runcount == 11) {
|
||||
/* obtained data for the first file descriptor */
|
||||
struct vehicle_status_s vehicle_status_raw;
|
||||
struct vehicle_gps_position_s vehicle_gps_position_raw;
|
||||
|
||||
bool new_data_vehicle_status;
|
||||
bool new_data_vehicle_gps_position;
|
||||
|
||||
orb_check(vehicle_status_sub_fd, &new_data_vehicle_status);
|
||||
|
||||
if (new_data_vehicle_status) {
|
||||
orb_copy(ORB_ID(vehicle_status), vehicle_status_sub_fd, &vehicle_status_raw);
|
||||
no_data_vehicle_status = 0;
|
||||
} else {
|
||||
no_data_vehicle_status++;
|
||||
if(no_data_vehicle_status >= 3)
|
||||
no_data_vehicle_status = 3;
|
||||
}
|
||||
|
||||
orb_check(vehicle_gps_position_sub_fd, &new_data_vehicle_gps_position);
|
||||
|
||||
if (new_data_vehicle_gps_position) {
|
||||
orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_position_sub_fd, &vehicle_gps_position_raw);
|
||||
no_data_vehicle_gps_position = 0;
|
||||
} else {
|
||||
no_data_vehicle_gps_position++;
|
||||
if(no_data_vehicle_gps_position >= 3)
|
||||
no_data_vehicle_gps_position = 3;
|
||||
}
|
||||
|
||||
|
||||
|
||||
/* get number of used satellites in navigation */
|
||||
num_of_used_sats = 0;
|
||||
for(int satloop=0; satloop<20; satloop++) {
|
||||
if(vehicle_gps_position_raw.satellite_used[satloop] == 1) {
|
||||
num_of_used_sats++;
|
||||
}
|
||||
}
|
||||
|
||||
if(new_data_vehicle_status || no_data_vehicle_status < 3){
|
||||
if(num_of_cells == 0) {
|
||||
/* looking for lipo cells that are connected */
|
||||
printf("<blinkm> checking cells\n");
|
||||
for(num_of_cells = 2; num_of_cells < 7; num_of_cells++) {
|
||||
if(vehicle_status_raw.voltage_battery < num_of_cells * MAX_CELL_VOLTAGE) break;
|
||||
}
|
||||
printf("<blinkm> cells found:%u\n", num_of_cells);
|
||||
|
||||
} else {
|
||||
if(vehicle_status_raw.battery_warning == VEHICLE_BATTERY_WARNING_WARNING) {
|
||||
/* LED Pattern for battery low warning */
|
||||
led_color_1 = LED_YELLOW;
|
||||
led_color_2 = LED_YELLOW;
|
||||
led_color_3 = LED_YELLOW;
|
||||
led_color_4 = LED_YELLOW;
|
||||
led_color_5 = LED_YELLOW;
|
||||
led_color_6 = LED_YELLOW;
|
||||
led_blink = LED_BLINK;
|
||||
|
||||
} else if(vehicle_status_raw.battery_warning == VEHICLE_BATTERY_WARNING_ALERT) {
|
||||
/* LED Pattern for battery critical alerting */
|
||||
led_color_1 = LED_RED;
|
||||
led_color_2 = LED_RED;
|
||||
led_color_3 = LED_RED;
|
||||
led_color_4 = LED_RED;
|
||||
led_color_5 = LED_RED;
|
||||
led_color_6 = LED_RED;
|
||||
led_blink = LED_BLINK;
|
||||
|
||||
} else {
|
||||
/* no battery warnings here */
|
||||
|
||||
if(vehicle_status_raw.flag_system_armed == false) {
|
||||
/* system not armed */
|
||||
led_color_1 = LED_RED;
|
||||
led_color_2 = LED_RED;
|
||||
led_color_3 = LED_RED;
|
||||
led_color_4 = LED_RED;
|
||||
led_color_5 = LED_RED;
|
||||
led_color_6 = LED_RED;
|
||||
led_blink = LED_NOBLINK;
|
||||
|
||||
} else {
|
||||
/* armed system - initial led pattern */
|
||||
led_color_1 = LED_RED;
|
||||
led_color_2 = LED_RED;
|
||||
led_color_3 = LED_RED;
|
||||
led_color_4 = LED_OFF;
|
||||
led_color_5 = LED_OFF;
|
||||
led_color_6 = LED_OFF;
|
||||
led_blink = LED_BLINK;
|
||||
|
||||
/* handle 4th led - flightmode indicator */
|
||||
switch((int)vehicle_status_raw.flight_mode) {
|
||||
case VEHICLE_FLIGHT_MODE_MANUAL:
|
||||
led_color_4 = LED_OFF;
|
||||
break;
|
||||
|
||||
case VEHICLE_FLIGHT_MODE_STAB:
|
||||
led_color_4 = LED_YELLOW;
|
||||
break;
|
||||
|
||||
case VEHICLE_FLIGHT_MODE_HOLD:
|
||||
led_color_4 = LED_BLUE;
|
||||
break;
|
||||
|
||||
case VEHICLE_FLIGHT_MODE_AUTO:
|
||||
led_color_4 = LED_GREEN;
|
||||
break;
|
||||
}
|
||||
|
||||
if(new_data_vehicle_gps_position || no_data_vehicle_gps_position < 3) {
|
||||
/* handling used sat´s */
|
||||
if(num_of_used_sats >= 7) {
|
||||
led_color_1 = LED_OFF;
|
||||
led_color_2 = LED_OFF;
|
||||
led_color_3 = LED_OFF;
|
||||
} else if(num_of_used_sats == 6) {
|
||||
led_color_2 = LED_OFF;
|
||||
led_color_3 = LED_OFF;
|
||||
} else if(num_of_used_sats == 5) {
|
||||
led_color_3 = LED_OFF;
|
||||
}
|
||||
|
||||
} else {
|
||||
/* no vehicle_gps_position data */
|
||||
led_color_1 = LED_WHITE;
|
||||
led_color_2 = LED_WHITE;
|
||||
led_color_3 = LED_WHITE;
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
} else {
|
||||
/* LED Pattern for general Error - no vehicle_status can retrieved */
|
||||
led_color_1 = LED_WHITE;
|
||||
led_color_2 = LED_WHITE;
|
||||
led_color_3 = LED_WHITE;
|
||||
led_color_4 = LED_WHITE;
|
||||
led_color_5 = LED_WHITE;
|
||||
led_color_6 = LED_WHITE;
|
||||
led_blink = LED_BLINK;
|
||||
|
||||
}
|
||||
|
||||
/*
|
||||
printf( "<blinkm> Volt:%8.4f\tArmed:%4u\tMode:%4u\tCells:%4u\tNDVS:%4u\tNDSAT:%4u\tSats:%4u\tFix:%4u\tVisible:%4u\n",
|
||||
vehicle_status_raw.voltage_battery,
|
||||
vehicle_status_raw.flag_system_armed,
|
||||
vehicle_status_raw.flight_mode,
|
||||
num_of_cells,
|
||||
no_data_vehicle_status,
|
||||
no_data_vehicle_gps_position,
|
||||
num_of_used_sats,
|
||||
vehicle_gps_position_raw.fix_type,
|
||||
vehicle_gps_position_raw.satellites_visible);
|
||||
*/
|
||||
|
||||
led_thread_runcount=0;
|
||||
led_thread_ready = true;
|
||||
led_interval = LED_OFFTIME;
|
||||
|
||||
if(detected_cells_runcount < 4){
|
||||
detected_cells_runcount++;
|
||||
} else {
|
||||
detected_cells_blinked = true;
|
||||
}
|
||||
|
||||
} else {
|
||||
led_thread_runcount++;
|
||||
}
|
||||
|
||||
if(systemstate_run == true) {
|
||||
/* re-queue ourselves to run again later */
|
||||
work_queue(LPWORK, &_work, (worker_t)&BlinkM::led_trampoline, this, led_interval);
|
||||
} else {
|
||||
stop_script();
|
||||
set_rgb(0,0,0);
|
||||
}
|
||||
}
|
||||
|
||||
void BlinkM::setLEDColor(int ledcolor) {
|
||||
switch (ledcolor) {
|
||||
case LED_OFF: // off
|
||||
set_rgb(0,0,0);
|
||||
break;
|
||||
case LED_RED: // red
|
||||
set_rgb(255,0,0);
|
||||
break;
|
||||
case LED_YELLOW: // yellow
|
||||
set_rgb(255,70,0);
|
||||
break;
|
||||
case LED_PURPLE: // purple
|
||||
set_rgb(255,0,255);
|
||||
break;
|
||||
case LED_GREEN: // green
|
||||
set_rgb(0,255,0);
|
||||
break;
|
||||
case LED_BLUE: // blue
|
||||
set_rgb(0,0,255);
|
||||
break;
|
||||
case LED_WHITE: // white
|
||||
set_rgb(255,255,255);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
int
|
||||
|
@ -413,7 +796,6 @@ BlinkM::get_rgb(uint8_t &r, uint8_t &g, uint8_t &b)
|
|||
return ret;
|
||||
}
|
||||
|
||||
|
||||
int
|
||||
BlinkM::get_firmware_version(uint8_t version[2])
|
||||
{
|
||||
|
@ -443,9 +825,21 @@ blinkm_main(int argc, char *argv[])
|
|||
exit(0);
|
||||
}
|
||||
|
||||
|
||||
if (g_blinkm == nullptr)
|
||||
errx(1, "not started");
|
||||
|
||||
if (!strcmp(argv[1], "systemstate")) {
|
||||
g_blinkm->setMode(1);
|
||||
exit(0);
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "ledoff")) {
|
||||
g_blinkm->setMode(0);
|
||||
exit(0);
|
||||
}
|
||||
|
||||
|
||||
if (!strcmp(argv[1], "list")) {
|
||||
for (unsigned i = 0; BlinkM::script_names[i] != nullptr; i++)
|
||||
fprintf(stderr, " %s\n", BlinkM::script_names[i]);
|
||||
|
@ -458,8 +852,9 @@ blinkm_main(int argc, char *argv[])
|
|||
if (fd < 0)
|
||||
err(1, "can't open BlinkM device");
|
||||
|
||||
g_blinkm->setMode(0);
|
||||
if (ioctl(fd, BLINKM_PLAY_SCRIPT_NAMED, (unsigned long)argv[1]) == OK)
|
||||
exit(0);
|
||||
|
||||
errx(1, "missing command, try 'start', 'list' or a script name");
|
||||
}
|
||||
errx(1, "missing command, try 'start', 'systemstate', 'ledoff', 'list' or a script name.");
|
||||
}
|
||||
|
|
|
@ -226,7 +226,7 @@ __EXPORT int nsh_archinitialize(void)
|
|||
stm32_configgpio(GPIO_ADC1_IN10);
|
||||
stm32_configgpio(GPIO_ADC1_IN11);
|
||||
stm32_configgpio(GPIO_ADC1_IN12);
|
||||
//stm32_configgpio(GPIO_ADC1_IN13); // jumperable to MPU6000 DRDY on some boards
|
||||
stm32_configgpio(GPIO_ADC1_IN13); // jumperable to MPU6000 DRDY on some boards
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
|
|
@ -366,8 +366,8 @@ int
|
|||
adc_main(int argc, char *argv[])
|
||||
{
|
||||
if (g_adc == nullptr) {
|
||||
/* XXX this hardcodes the minimum channel set for PX4FMU - should be configurable */
|
||||
g_adc = new ADC((1 << 10) | (1 << 11));
|
||||
/* XXX this hardcodes the default channel set for PX4FMU - should be configurable */
|
||||
g_adc = new ADC((1 << 10) | (1 << 11) | (1 << 12) | (1 << 13));
|
||||
|
||||
if (g_adc == nullptr)
|
||||
errx(1, "couldn't allocate the ADC driver");
|
||||
|
|
|
@ -3,206 +3,60 @@
|
|||
# see misc/tools/kconfig-language.txt.
|
||||
#
|
||||
|
||||
menu "ADC Example"
|
||||
source "$APPSDIR/examples/adc/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "Buttons Example"
|
||||
source "$APPSDIR/examples/buttons/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "CAN Example"
|
||||
source "$APPSDIR/examples/can/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "USB CDC/ACM Class Driver Example"
|
||||
source "$APPSDIR/examples/cdcacm/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "USB composite Class Driver Example"
|
||||
source "$APPSDIR/examples/composite/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "DHCP Server Example"
|
||||
source "$APPSDIR/examples/cxxtest/Kconfig"
|
||||
source "$APPSDIR/examples/dhcpd/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "FTP Client Example"
|
||||
source "$APPSDIR/examples/elf/Kconfig"
|
||||
source "$APPSDIR/examples/ftpc/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "FTP Server Example"
|
||||
source "$APPSDIR/examples/ftpd/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "\"Hello, World!\" Example"
|
||||
source "$APPSDIR/examples/hello/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "\"Hello, World!\" C++ Example"
|
||||
source "$APPSDIR/examples/helloxx/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "USB HID Keyboard Example"
|
||||
source "$APPSDIR/examples/json/Kconfig"
|
||||
source "$APPSDIR/examples/hidkbd/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "IGMP Example"
|
||||
source "$APPSDIR/examples/keypadtest/Kconfig"
|
||||
source "$APPSDIR/examples/igmp/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "LCD Read/Write Example"
|
||||
source "$APPSDIR/examples/lcdrw/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "Memory Management Example"
|
||||
source "$APPSDIR/examples/mm/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "File System Mount Example"
|
||||
source "$APPSDIR/examples/mount/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "FreeModBus Example"
|
||||
source "$APPSDIR/examples/modbus/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "Network Test Example"
|
||||
source "$APPSDIR/examples/nettest/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "NuttShell (NSH) Example"
|
||||
source "$APPSDIR/examples/nsh/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "NULL Example"
|
||||
source "$APPSDIR/examples/null/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "NX Graphics Example"
|
||||
source "$APPSDIR/examples/nx/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "NxConsole Example"
|
||||
source "$APPSDIR/examples/nxconsole/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "NXFFS File System Example"
|
||||
source "$APPSDIR/examples/nxffs/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "NXFLAT Example"
|
||||
source "$APPSDIR/examples/nxflat/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "NX Graphics \"Hello, World!\" Example"
|
||||
source "$APPSDIR/examples/nxhello/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "NX Graphics image Example"
|
||||
source "$APPSDIR/examples/nximage/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "NX Graphics lines Example"
|
||||
source "$APPSDIR/examples/nxlines/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "NX Graphics Text Example"
|
||||
source "$APPSDIR/examples/nxtext/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "OS Test Example"
|
||||
source "$APPSDIR/examples/ostest/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "Pascal \"Hello, World!\"example"
|
||||
source "$APPSDIR/examples/pashello/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "Pipe Example"
|
||||
source "$APPSDIR/examples/pipe/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "Poll Example"
|
||||
source "$APPSDIR/examples/poll/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "Pulse Width Modulation (PWM) Example"
|
||||
source "$APPSDIR/examples/pwm/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "Quadrature Encoder Example"
|
||||
source "$APPSDIR/examples/qencoder/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "RGMP Example"
|
||||
source "$APPSDIR/examples/relays/Kconfig"
|
||||
source "$APPSDIR/examples/rgmp/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "ROMFS Example"
|
||||
source "$APPSDIR/examples/romfs/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "sendmail Example"
|
||||
source "$APPSDIR/examples/sendmail/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "Serial Loopback Example"
|
||||
source "$APPSDIR/examples/serloop/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "Telnet Daemon Example"
|
||||
source "$APPSDIR/examples/telnetd/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "THTTPD Web Server Example"
|
||||
source "$APPSDIR/examples/thttpd/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "TIFF Generation Example"
|
||||
source "$APPSDIR/examples/tiff/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "Touchscreen Example"
|
||||
source "$APPSDIR/examples/touchscreen/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "UDP Example"
|
||||
source "$APPSDIR/examples/udp/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "UDP Discovery Daemon Example"
|
||||
source "$APPSDIR/examples/discover/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "uIP Web Server Example"
|
||||
source "$APPSDIR/examples/uip/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "USB Serial Test Example"
|
||||
source "$APPSDIR/examples/usbserial/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "USB Mass Storage Class Example"
|
||||
source "$APPSDIR/examples/usbstorage/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "USB Serial Terminal Example"
|
||||
source "$APPSDIR/examples/usbterm/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "Watchdog timer Example"
|
||||
source "$APPSDIR/examples/watchdog/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "wget Example"
|
||||
source "$APPSDIR/examples/wget/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "WLAN Example"
|
||||
source "$APPSDIR/examples/wgetjson/Kconfig"
|
||||
source "$APPSDIR/examples/wlan/Kconfig"
|
||||
endmenu
|
||||
|
||||
menu "XML RPC Example"
|
||||
source "$APPSDIR/examples/xmlrpc/Kconfig"
|
||||
endmenu
|
||||
|
|
|
@ -54,6 +54,10 @@ ifeq ($(CONFIG_EXAMPLES_COMPOSITE),y)
|
|||
CONFIGURED_APPS += examples/composite
|
||||
endif
|
||||
|
||||
ifeq ($(CONFIG_EXAMPLES_CXXTEST),y)
|
||||
CONFIGURED_APPS += examples/cxxtest
|
||||
endif
|
||||
|
||||
ifeq ($(CONFIG_EXAMPLES_DHCPD),y)
|
||||
CONFIGURED_APPS += examples/dhcpd
|
||||
endif
|
||||
|
@ -62,6 +66,10 @@ ifeq ($(CONFIG_EXAMPLES_DISCOVER),y)
|
|||
CONFIGURED_APPS += examples/discover
|
||||
endif
|
||||
|
||||
ifeq ($(CONFIG_EXAMPLES_ELF),y)
|
||||
CONFIGURED_APPS += examples/elf
|
||||
endif
|
||||
|
||||
ifeq ($(CONFIG_EXAMPLES_FTPC),y)
|
||||
CONFIGURED_APPS += examples/ftpc
|
||||
endif
|
||||
|
@ -86,6 +94,14 @@ ifeq ($(CONFIG_EXAMPLES_IGMP),y)
|
|||
CONFIGURED_APPS += examples/igmp
|
||||
endif
|
||||
|
||||
ifeq ($(CONFIG_EXAMPLES_JSON),y)
|
||||
CONFIGURED_APPS += examples/json
|
||||
endif
|
||||
|
||||
ifeq ($(CONFIG_EXAMPLES_KEYPADTEST),y)
|
||||
CONFIGURED_APPS += examples/keypadtest
|
||||
endif
|
||||
|
||||
ifeq ($(CONFIG_EXAMPLES_LCDRW),y)
|
||||
CONFIGURED_APPS += examples/lcdrw
|
||||
endif
|
||||
|
@ -94,6 +110,10 @@ ifeq ($(CONFIG_EXAMPLES_MM),y)
|
|||
CONFIGURED_APPS += examples/mm
|
||||
endif
|
||||
|
||||
ifeq ($(CONFIG_EXAMPLES_MODBUS),y)
|
||||
CONFIGURED_APPS += examples/modbus
|
||||
endif
|
||||
|
||||
ifeq ($(CONFIG_EXAMPLES_MOUNT),y)
|
||||
CONFIGURED_APPS += examples/mount
|
||||
endif
|
||||
|
@ -166,6 +186,10 @@ ifeq ($(CONFIG_EXAMPLES_QENCODER),y)
|
|||
CONFIGURED_APPS += examples/qencoder
|
||||
endif
|
||||
|
||||
ifeq ($(CONFIG_EXAMPLES_RELAYS),y)
|
||||
CONFIGURED_APPS += examples/relays
|
||||
endif
|
||||
|
||||
ifeq ($(CONFIG_EXAMPLES_RGMP),y)
|
||||
CONFIGURED_APPS += examples/rgmp
|
||||
endif
|
||||
|
@ -226,6 +250,10 @@ ifeq ($(CONFIG_EXAMPLES_WGET),y)
|
|||
CONFIGURED_APPS += examples/wget
|
||||
endif
|
||||
|
||||
ifeq ($(CONFIG_EXAMPLES_WGETJSON),y)
|
||||
CONFIGURED_APPS += examples/wgetjson
|
||||
endif
|
||||
|
||||
ifeq ($(CONFIG_EXAMPLES_WLAN),y)
|
||||
CONFIGURED_APPS += examples/wlan
|
||||
endif
|
||||
|
|
|
@ -37,12 +37,12 @@
|
|||
|
||||
# Sub-directories
|
||||
|
||||
SUBDIRS = adc buttons can cdcacm composite dhcpd discover ftpc ftpd hello
|
||||
SUBDIRS += helloxx hidkbd igmp lcdrw mm modbus mount nettest nsh null nx
|
||||
SUBDIRS += nxconsole nxffs nxflat nxhello nximage nxlines nxtext ostest
|
||||
SUBDIRS += pashello pipe poll pwm qencoder rgmp romfs serloop telnetd
|
||||
SUBDIRS += thttpd tiff touchscreen udp uip usbserial sendmail usbstorage
|
||||
SUBDIRS += usbterm watchdog wget wlan
|
||||
SUBDIRS = adc buttons can cdcacm composite cxxtest dhcpd discover elf ftpc
|
||||
SUBDIRS += ftpd hello helloxx hidkbd igmp json keypadtest lcdrw mm modbus mount
|
||||
SUBDIRS += nettest nsh null nx nxconsole nxffs nxflat nxhello nximage
|
||||
SUBDIRS += nxlines nxtext ostest pashello pipe poll pwm qencoder relays
|
||||
SUBDIRS += rgmp romfs serloop telnetd thttpd tiff touchscreen udp uip
|
||||
SUBDIRS += usbserial sendmail usbstorage usbterm watchdog wget wgetjson wlan
|
||||
|
||||
# Sub-directories that might need context setup. Directories may need
|
||||
# context setup for a variety of reasons, but the most common is because
|
||||
|
@ -57,8 +57,8 @@ SUBDIRS += usbterm watchdog wget wlan
|
|||
CNTXTDIRS = pwm
|
||||
|
||||
ifeq ($(CONFIG_NSH_BUILTIN_APPS),y)
|
||||
CNTXTDIRS += adc can cdcacm composite discover ftpd dhcpd modbus nettest
|
||||
CNTXTDIRS += qencoder telnetd watchdog
|
||||
CNTXTDIRS += adc can cdcacm composite cxxtest dhcpd discover ftpd json keypadtest
|
||||
CNTXTDIRS += modbus nettest nxlines relays qencoder telnetd watchdog wgetjson
|
||||
endif
|
||||
|
||||
ifeq ($(CONFIG_EXAMPLES_HELLO_BUILTIN),y)
|
||||
|
@ -79,9 +79,6 @@ endif
|
|||
ifeq ($(CONFIG_EXAMPLES_NXIMAGE_BUILTIN),y)
|
||||
CNTXTDIRS += nximage
|
||||
endif
|
||||
ifeq ($(CONFIG_EXAMPLES_LINES_BUILTIN),y)
|
||||
CNTXTDIRS += nxlines
|
||||
endif
|
||||
ifeq ($(CONFIG_EXAMPLES_NXTEXT_BUILTIN),y)
|
||||
CNTXTDIRS += nxtext
|
||||
endif
|
||||
|
@ -105,27 +102,25 @@ all: nothing
|
|||
|
||||
.PHONY: nothing context depend clean distclean
|
||||
|
||||
define SDIR_template
|
||||
$(1)_$(2):
|
||||
$(Q) $(MAKE) -C $(1) $(2) TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"
|
||||
endef
|
||||
|
||||
$(foreach SDIR, $(CNTXTDIRS), $(eval $(call SDIR_template,$(SDIR),context)))
|
||||
$(foreach SDIR, $(SUBDIRS), $(eval $(call SDIR_template,$(SDIR),depend)))
|
||||
$(foreach SDIR, $(SUBDIRS), $(eval $(call SDIR_template,$(SDIR),clean)))
|
||||
$(foreach SDIR, $(SUBDIRS), $(eval $(call SDIR_template,$(SDIR),distclean)))
|
||||
|
||||
nothing:
|
||||
|
||||
context:
|
||||
@for dir in $(CNTXTDIRS) ; do \
|
||||
$(MAKE) -C $$dir context TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"; \
|
||||
done
|
||||
context: $(foreach SDIR, $(CNTXTDIRS), $(SDIR)_context)
|
||||
|
||||
depend:
|
||||
@for dir in $(SUBDIRS) ; do \
|
||||
$(MAKE) -C $$dir depend TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"; \
|
||||
done
|
||||
depend: $(foreach SDIR, $(SUBDIRS), $(SDIR)_depend)
|
||||
|
||||
clean:
|
||||
@for dir in $(SUBDIRS) ; do \
|
||||
$(MAKE) -C $$dir clean TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"; \
|
||||
done
|
||||
clean: $(foreach SDIR, $(SUBDIRS), $(SDIR)_clean)
|
||||
|
||||
distclean: clean
|
||||
@for dir in $(SUBDIRS) ; do \
|
||||
$(MAKE) -C $$dir distclean TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"; \
|
||||
done
|
||||
distclean: clean $(foreach SDIR, $(SUBDIRS), $(SDIR)_distclean)
|
||||
|
||||
-include Make.dep
|
||||
|
||||
|
|
|
@ -239,6 +239,29 @@ examples/composite
|
|||
CONFIG_EXAMPLES_COMPOSITE_TRACEINTERRUPTS
|
||||
Show interrupt-related events.
|
||||
|
||||
examples/cxxtest
|
||||
^^^^^^^^^^^^^^^^
|
||||
|
||||
This is a test of the C++ standard library. At present a port of the uClibc++
|
||||
C++ library is available. Due to licensinging issues, the uClibc++ C++ library
|
||||
is not included in the NuttX source tree by default, but must be installed
|
||||
(see misc/uClibc++/README.txt for installation).
|
||||
|
||||
The NuttX setting that are required include:
|
||||
|
||||
CONFIG_HAVE_CXX=y
|
||||
CONFIG_HAVE_CXXINITIALIZE=y
|
||||
CONFIG_UCLIBCXX=y
|
||||
|
||||
Additional uClibc++ settings may be required in your build environment.
|
||||
|
||||
The uClibc++ test includes simple test of:
|
||||
|
||||
- iostreams,
|
||||
- STL,
|
||||
- RTTI, and
|
||||
- Exceptions
|
||||
|
||||
examples/dhcpd
|
||||
^^^^^^^^^^^^^^
|
||||
|
||||
|
@ -297,6 +320,68 @@ examples/discover
|
|||
CONFIG_EXAMPLES_DISCOVER_DRIPADDR - Router IP address
|
||||
CONFIG_EXAMPLES_DISCOVER_NETMASK - Network Mask
|
||||
|
||||
examples/elf
|
||||
^^^^^^^^^^^^
|
||||
|
||||
This example builds a small ELF loader test case. This includes several
|
||||
test programs under examples/elf tests. These tests are build using
|
||||
the relocatable ELF format and installed in a ROMFS file system. At run time,
|
||||
each program in the ROMFS file system is executed. Requires CONFIG_ELF.
|
||||
Other configuration options:
|
||||
|
||||
CONFIG_EXAMPLES_ELF_DEVMINOR - The minor device number of the ROMFS block.
|
||||
For example, the N in /dev/ramN. Used for registering the RAM block driver
|
||||
that will hold the ROMFS file system containing the ELF executables to be
|
||||
tested. Default: 0
|
||||
|
||||
CONFIG_EXAMPLES_ELF_DEVPATH - The path to the ROMFS block driver device. This
|
||||
must match EXAMPLES_ELF_DEVMINOR. Used for registering the RAM block driver
|
||||
that will hold the ROMFS file system containing the ELF executables to be
|
||||
tested. Default: "/dev/ram0"
|
||||
|
||||
NOTES:
|
||||
|
||||
1. CFLAGS should be provided in CELFFLAGS. RAM and FLASH memory regions
|
||||
may require long allcs. For ARM, this might be:
|
||||
|
||||
CELFFLAGS = $(CFLAGS) -mlong-calls
|
||||
|
||||
Similarly for C++ flags which must be provided in CXXELFFLAGS.
|
||||
|
||||
2. Your top-level nuttx/Make.defs file must alos include an approproate definition,
|
||||
LDELFFLAGS, to generate a relocatable ELF object. With GNU LD, this should
|
||||
include '-r' and '-e main' (or _main on some platforms).
|
||||
|
||||
LDELFFLAGS = -r -e main
|
||||
|
||||
If you use GCC to link, you make also need to include '-nostdlib' or
|
||||
'-nostartfiles' and '-nodefaultlibs'.
|
||||
|
||||
3. This example also requires genromfs. genromfs can be build as part of the
|
||||
nuttx toolchain. Or can built from the genromfs sources that can be found
|
||||
at misc/tools/genromfs-0.5.2.tar.gz. In any event, the PATH variable must
|
||||
include the path to the genromfs executable.
|
||||
|
||||
4. ELF size: The ELF files in this example are, be default, quite large
|
||||
because they include a lot of "build garbage". You can greatly reduce the
|
||||
size of the ELF binaries are using the 'objcopy --strip-unneeded' command to
|
||||
remove un-necessary information from the ELF files.
|
||||
|
||||
5. Simulator. You cannot use this example with the the NuttX simulator on
|
||||
Cygwin. That is because the Cygwin GCC does not generate ELF file but
|
||||
rather some Windows-native binary format.
|
||||
|
||||
If you really want to do this, you can create a NuttX x86 buildroot toolchain
|
||||
and use that be build the ELF executables for the ROMFS file system.
|
||||
|
||||
6. Linker scripts. You might also want to use a linker scripts to combine
|
||||
sections better. An example linker script is at nuttx/binfmt/libelf/gnu-elf.ld.
|
||||
That example might have to be tuned for your particular linker output to
|
||||
position additional sections correctly. The GNU LD LDELFFLAGS then might
|
||||
be:
|
||||
|
||||
LDELFFLAGS = -r -e main -T$(TOPDIR)/binfmt/libelf/gnu-elf.ld
|
||||
|
||||
examples/ftpc
|
||||
^^^^^^^^^^^^^
|
||||
|
||||
|
@ -482,6 +567,32 @@ examples/igmp
|
|||
|
||||
CONFIGURED_APPS += uiplib
|
||||
|
||||
examples/json
|
||||
^^^^^^^^^^^^^
|
||||
|
||||
This example exercises the cJSON implementation at apps/netutils/json.
|
||||
This example contains logic taken from the cJSON project:
|
||||
|
||||
http://sourceforge.net/projects/cjson/
|
||||
|
||||
The example corresponds to SVN revision r42 (with lots of changes for
|
||||
NuttX coding standards). As of r42, the SVN repository was last updated
|
||||
on 2011-10-10 so I presume that the code is stable and there is no risk
|
||||
of maintaining duplicate logic in the NuttX repository.
|
||||
|
||||
examples/keypadtest
|
||||
^^^^^^^^^^^^^^^^^^^
|
||||
|
||||
This is a generic keypad test example. It is similar to the USB hidkbd
|
||||
example, but makes no assumptions about the underlying keyboard interface.
|
||||
It uses the interfaces of include/nuttx/input/keypad.h.
|
||||
|
||||
CONFIG_EXAMPLES_KEYPADTEST - Selects the keypadtest example (only need
|
||||
if the mconf/Kconfig tool is used.
|
||||
|
||||
CONFIG_EXAMPLES_KEYPAD_DEVNAME - The name of the keypad device that will
|
||||
be opened in order to perform the keypad test. Default: "/dev/keypad"
|
||||
|
||||
examples/lcdrw
|
||||
^^^^^^^^^^^^^^
|
||||
|
||||
|
@ -496,6 +607,11 @@ examples/lcdrw
|
|||
* CONFIG_EXAMPLES_LDCRW_YRES
|
||||
LCD Y resolution. Default: 320
|
||||
|
||||
NOTE: This test exercises internal lcd driver interfaces. As such, it
|
||||
relies on internal OS interfaces that are not normally available to a
|
||||
user-space program. As a result, this example cannot be used if a
|
||||
NuttX is built as a protected, supervisor kernel (CONFIG_NUTTX_KERNEL).
|
||||
|
||||
examples/mm
|
||||
^^^^^^^^^^^
|
||||
|
||||
|
@ -838,8 +954,6 @@ examplex/nxlines
|
|||
|
||||
The following configuration options can be selected:
|
||||
|
||||
CONFIG_EXAMPLES_NXLINES_BUILTIN -- Build the NXLINES example as a "built-in"
|
||||
that can be executed from the NSH command line
|
||||
CONFIG_EXAMPLES_NXLINES_VPLANE -- The plane to select from the frame-
|
||||
buffer driver for use in the test. Default: 0
|
||||
CONFIG_EXAMPLES_NXLINES_DEVNO - The LCD device to select from the LCD
|
||||
|
@ -877,6 +991,9 @@ examplex/nxlines
|
|||
FAR struct fb_vtable_s *up_nxdrvinit(unsigned int devno);
|
||||
#endif
|
||||
|
||||
CONFIG_NSH_BUILTIN_APPS - Build the NX lines examples as an NSH built-in
|
||||
function.
|
||||
|
||||
examples/nxtext
|
||||
^^^^^^^^^^^^^^^
|
||||
|
||||
|
@ -984,6 +1101,17 @@ examples/ostest
|
|||
Specifies the number of threads to create in the barrier
|
||||
test. The default is 8 but a smaller number may be needed on
|
||||
systems without sufficient memory to start so many threads.
|
||||
* CONFIG_EXAMPLES_OSTEST_RR_RANGE
|
||||
During round-robin scheduling test two threads are created. Each of the threads
|
||||
searches for prime numbers in the configurable range, doing that configurable
|
||||
number of times.
|
||||
This value specifies the end of search range and together with number of runs
|
||||
allows to configure the length of this test - it should last at least a few
|
||||
tens of seconds. Allowed values [1; 32767], default 10000
|
||||
* CONFIG_EXAMPLES_OSTEST_RR_RUNS
|
||||
During round-robin scheduling test two threads are created. Each of the threads
|
||||
searches for prime numbers in the configurable range, doing that configurable
|
||||
number of times.
|
||||
|
||||
examples/pashello
|
||||
^^^^^^^^^^^^^^^^^
|
||||
|
@ -1110,17 +1238,28 @@ examples/qencoder
|
|||
|
||||
Specific configuration options for this example include:
|
||||
|
||||
CONFIG_EXAMPLES_QENCODER_DEVPATH - The path to the QE device. Default:
|
||||
/dev/qe0
|
||||
CONFIG_EXAMPLES_QENCODER_NSAMPLES - If CONFIG_NSH_BUILTIN_APPS
|
||||
is defined, then the number of samples is provided on the command line
|
||||
and this value is ignored. Otherwise, this number of samples is
|
||||
collected and the program terminates. Default: Samples are collected
|
||||
indefinitely.
|
||||
CONFIG_EXAMPLES_QENCODER_DELAY - This value provides the delay (in
|
||||
milliseonds) between each sample. If CONFIG_NSH_BUILTIN_APPS
|
||||
is defined, then this value is the default delay if no other delay is
|
||||
provided on the command line. Default: 100 milliseconds
|
||||
CONFIG_EXAMPLES_QENCODER_DEVPATH - The path to the QE device. Default:
|
||||
/dev/qe0
|
||||
CONFIG_EXAMPLES_QENCODER_NSAMPLES - If CONFIG_NSH_BUILTIN_APPS
|
||||
is defined, then the number of samples is provided on the command line
|
||||
and this value is ignored. Otherwise, this number of samples is
|
||||
collected and the program terminates. Default: Samples are collected
|
||||
indefinitely.
|
||||
CONFIG_EXAMPLES_QENCODER_DELAY - This value provides the delay (in
|
||||
milliseonds) between each sample. If CONFIG_NSH_BUILTIN_APPS
|
||||
is defined, then this value is the default delay if no other delay is
|
||||
provided on the command line. Default: 100 milliseconds
|
||||
|
||||
examples/relays
|
||||
^^^^^^^^^^^^^^^
|
||||
|
||||
Requires CONFIG_ARCH_RELAYS.
|
||||
Contributed by Darcy Gong.
|
||||
|
||||
NOTE: This test exercises internal relay driver interfaces. As such, it
|
||||
relies on internal OS interfaces that are not normally available to a
|
||||
user-space program. As a result, this example cannot be used if a
|
||||
NuttX is built as a protected, supervisor kernel (CONFIG_NUTTX_KERNEL).
|
||||
|
||||
examples/rgmp
|
||||
^^^^^^^^^^^^^
|
||||
|
@ -1672,7 +1811,16 @@ examples/wget
|
|||
CONFIGURED_APPS += resolv
|
||||
CONFIGURED_APPS += webclient
|
||||
|
||||
examples/wget
|
||||
^^^^^^^^^^^^^
|
||||
|
||||
Uses wget to get a JSON encoded file, then decodes the file.
|
||||
|
||||
CONFIG_EXAMPLES_WDGETJSON_MAXSIZE - Max. JSON Buffer Size
|
||||
CONFIG_EXAMPLES_EXAMPLES_WGETJSON_URL - wget URL
|
||||
|
||||
examples/xmlrpc
|
||||
^^^^^^^^^^^^^^^
|
||||
|
||||
This example exercises the "Embeddable Lightweight XML-RPC Server" which
|
||||
is discussed at:
|
||||
|
|
|
@ -1,7 +1,7 @@
|
|||
############################################################################
|
||||
# apps/examples/adc/Makefile
|
||||
#
|
||||
# Copyright (C) 2011 Gregory Nutt. All rights reserved.
|
||||
# Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
|
||||
# Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
|
@ -48,10 +48,14 @@ COBJS = $(CSRCS:.c=$(OBJEXT))
|
|||
SRCS = $(ASRCS) $(CSRCS)
|
||||
OBJS = $(AOBJS) $(COBJS)
|
||||
|
||||
ifeq ($(WINTOOL),y)
|
||||
BIN = "${shell cygpath -w $(APPDIR)/libapps$(LIBEXT)}"
|
||||
ifeq ($(CONFIG_WINDOWS_NATIVE),y)
|
||||
BIN = ..\..\libapps$(LIBEXT)
|
||||
else
|
||||
BIN = "$(APPDIR)/libapps$(LIBEXT)"
|
||||
ifeq ($(WINTOOL),y)
|
||||
BIN = ..\\..\\libapps$(LIBEXT)
|
||||
else
|
||||
BIN = ../../libapps$(LIBEXT)
|
||||
endif
|
||||
endif
|
||||
|
||||
ROOTDEPPATH = --dep-path .
|
||||
|
@ -76,9 +80,7 @@ $(COBJS): %$(OBJEXT): %.c
|
|||
$(call COMPILE, $<, $@)
|
||||
|
||||
.built: $(OBJS)
|
||||
@( for obj in $(OBJS) ; do \
|
||||
$(call ARCHIVE, $(BIN), $${obj}); \
|
||||
done ; )
|
||||
$(call ARCHIVE, $(BIN), $(OBJS))
|
||||
@touch .built
|
||||
|
||||
.context:
|
||||
|
@ -90,16 +92,17 @@ endif
|
|||
context: .context
|
||||
|
||||
.depend: Makefile $(SRCS)
|
||||
@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
@touch $@
|
||||
|
||||
depend: .depend
|
||||
|
||||
clean:
|
||||
@rm -f *.o *~ .*.swp .built
|
||||
$(call DELFILE, .built)
|
||||
$(call CLEAN)
|
||||
|
||||
distclean: clean
|
||||
@rm -f Make.dep .depend
|
||||
$(call DELFILE, Make.dep)
|
||||
$(call DELFILE, .depend)
|
||||
|
||||
-include Make.dep
|
||||
|
|
|
@ -289,7 +289,7 @@ int adc_main(int argc, char *argv[])
|
|||
{
|
||||
message("adc_main: open %s failed: %d\n", g_adcstate.devpath, errno);
|
||||
errval = 2;
|
||||
goto errout_with_dev;
|
||||
goto errout;
|
||||
}
|
||||
|
||||
/* Now loop the appropriate number of times, displaying the collected
|
||||
|
@ -357,6 +357,11 @@ int adc_main(int argc, char *argv[])
|
|||
}
|
||||
}
|
||||
|
||||
close(fd);
|
||||
return OK;
|
||||
|
||||
/* Error exits */
|
||||
|
||||
errout_with_dev:
|
||||
close(fd);
|
||||
|
||||
|
|
|
@ -1,7 +1,7 @@
|
|||
############################################################################
|
||||
# apps/examples/buttons/Makefile
|
||||
#
|
||||
# Copyright (C) 2011 Gregory Nutt. All rights reserved.
|
||||
# Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
|
||||
# Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
|
@ -48,10 +48,14 @@ COBJS = $(CSRCS:.c=$(OBJEXT))
|
|||
SRCS = $(ASRCS) $(CSRCS)
|
||||
OBJS = $(AOBJS) $(COBJS)
|
||||
|
||||
ifeq ($(WINTOOL),y)
|
||||
BIN = "${shell cygpath -w $(APPDIR)/libapps$(LIBEXT)}"
|
||||
ifeq ($(CONFIG_WINDOWS_NATIVE),y)
|
||||
BIN = ..\..\libapps$(LIBEXT)
|
||||
else
|
||||
BIN = "$(APPDIR)/libapps$(LIBEXT)"
|
||||
ifeq ($(WINTOOL),y)
|
||||
BIN = ..\\..\\libapps$(LIBEXT)
|
||||
else
|
||||
BIN = ../../libapps$(LIBEXT)
|
||||
endif
|
||||
endif
|
||||
|
||||
ROOTDEPPATH = --dep-path .
|
||||
|
@ -76,9 +80,7 @@ $(COBJS): %$(OBJEXT): %.c
|
|||
$(call COMPILE, $<, $@)
|
||||
|
||||
.built: $(OBJS)
|
||||
@( for obj in $(OBJS) ; do \
|
||||
$(call ARCHIVE, $(BIN), $${obj}); \
|
||||
done ; )
|
||||
$(call ARCHIVE, $(BIN), $(OBJS))
|
||||
@touch .built
|
||||
|
||||
.context:
|
||||
|
@ -90,16 +92,17 @@ endif
|
|||
context: .context
|
||||
|
||||
.depend: Makefile $(SRCS)
|
||||
@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
@touch $@
|
||||
|
||||
depend: .depend
|
||||
|
||||
clean:
|
||||
@rm -f *.o *~ .*.swp .built
|
||||
$(call DELFILE, .built)
|
||||
$(call CLEAN)
|
||||
|
||||
distclean: clean
|
||||
@rm -f Make.dep .depend
|
||||
$(call DELFILE, Make.dep)
|
||||
$(call DELFILE, .depend)
|
||||
|
||||
-include Make.dep
|
||||
|
|
|
@ -1,7 +1,7 @@
|
|||
############################################################################
|
||||
# apps/examples/can/Makefile
|
||||
#
|
||||
# Copyright (C) 2011 Gregory Nutt. All rights reserved.
|
||||
# Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
|
||||
# Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
|
@ -48,10 +48,14 @@ COBJS = $(CSRCS:.c=$(OBJEXT))
|
|||
SRCS = $(ASRCS) $(CSRCS)
|
||||
OBJS = $(AOBJS) $(COBJS)
|
||||
|
||||
ifeq ($(WINTOOL),y)
|
||||
BIN = "${shell cygpath -w $(APPDIR)/libapps$(LIBEXT)}"
|
||||
ifeq ($(CONFIG_WINDOWS_NATIVE),y)
|
||||
BIN = ..\..\libapps$(LIBEXT)
|
||||
else
|
||||
BIN = "$(APPDIR)/libapps$(LIBEXT)"
|
||||
ifeq ($(WINTOOL),y)
|
||||
BIN = ..\\..\\libapps$(LIBEXT)
|
||||
else
|
||||
BIN = ../../libapps$(LIBEXT)
|
||||
endif
|
||||
endif
|
||||
|
||||
ROOTDEPPATH = --dep-path .
|
||||
|
@ -76,9 +80,7 @@ $(COBJS): %$(OBJEXT): %.c
|
|||
$(call COMPILE, $<, $@)
|
||||
|
||||
.built: $(OBJS)
|
||||
@( for obj in $(OBJS) ; do \
|
||||
$(call ARCHIVE, $(BIN), $${obj}); \
|
||||
done ; )
|
||||
$(call ARCHIVE, $(BIN), $(OBJS))
|
||||
@touch .built
|
||||
|
||||
.context:
|
||||
|
@ -90,16 +92,17 @@ endif
|
|||
context: .context
|
||||
|
||||
.depend: Makefile $(SRCS)
|
||||
@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
@touch $@
|
||||
|
||||
depend: .depend
|
||||
|
||||
clean:
|
||||
@rm -f *.o *~ .*.swp .built
|
||||
$(call DELFILE, .built)
|
||||
$(call CLEAN)
|
||||
|
||||
distclean: clean
|
||||
@rm -f Make.dep .depend
|
||||
$(call DELFILE, Make.dep)
|
||||
$(call DELFILE, .depend)
|
||||
|
||||
-include Make.dep
|
||||
|
|
|
@ -48,10 +48,14 @@ COBJS = $(CSRCS:.c=$(OBJEXT))
|
|||
SRCS = $(ASRCS) $(CSRCS)
|
||||
OBJS = $(AOBJS) $(COBJS)
|
||||
|
||||
ifeq ($(WINTOOL),y)
|
||||
BIN = "${shell cygpath -w $(APPDIR)/libapps$(LIBEXT)}"
|
||||
ifeq ($(CONFIG_WINDOWS_NATIVE),y)
|
||||
BIN = ..\..\libapps$(LIBEXT)
|
||||
else
|
||||
BIN = "$(APPDIR)/libapps$(LIBEXT)"
|
||||
ifeq ($(WINTOOL),y)
|
||||
BIN = ..\\..\\libapps$(LIBEXT)
|
||||
else
|
||||
BIN = ../../libapps$(LIBEXT)
|
||||
endif
|
||||
endif
|
||||
|
||||
ROOTDEPPATH = --dep-path .
|
||||
|
@ -80,9 +84,7 @@ $(COBJS): %$(OBJEXT): %.c
|
|||
$(call COMPILE, $<, $@)
|
||||
|
||||
.built: $(OBJS)
|
||||
@( for obj in $(OBJS) ; do \
|
||||
$(call ARCHIVE, $(BIN), $${obj}); \
|
||||
done ; )
|
||||
$(call ARCHIVE, $(BIN), $(OBJS))
|
||||
@touch .built
|
||||
|
||||
.context:
|
||||
|
@ -93,17 +95,18 @@ $(COBJS): %$(OBJEXT): %.c
|
|||
context: .context
|
||||
|
||||
.depend: Makefile $(SRCS)
|
||||
@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
@touch $@
|
||||
|
||||
depend: .depend
|
||||
|
||||
clean:
|
||||
@rm -f *.o *~ .*.swp .built
|
||||
$(call DELFILE, .built)
|
||||
$(call CLEAN)
|
||||
|
||||
distclean: clean
|
||||
@rm -f Make.dep .depend
|
||||
$(call DELFILE, Make.dep)
|
||||
$(call DELFILE, .depend)
|
||||
|
||||
-include Make.dep
|
||||
|
||||
|
|
|
@ -108,7 +108,7 @@ int control_demo_main(int argc, char *argv[])
|
|||
deamon_task = task_spawn("control_demo",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_MAX - 10,
|
||||
4096,
|
||||
5120,
|
||||
control_demo_thread_main,
|
||||
(argv) ? (const char **)&argv[2] : (const char **)NULL);
|
||||
exit(0);
|
||||
|
|
|
@ -6,58 +6,58 @@
|
|||
// 16 is max name length
|
||||
|
||||
// gyro low pass filter
|
||||
PARAM_DEFINE_FLOAT(FWB_P_LP, 10.0f); // roll rate low pass cut freq
|
||||
PARAM_DEFINE_FLOAT(FWB_Q_LP, 10.0f); // pitch rate low pass cut freq
|
||||
PARAM_DEFINE_FLOAT(FWB_R_LP, 10.0f); // yaw rate low pass cut freq
|
||||
PARAM_DEFINE_FLOAT(FWB_P_LP, 300.0f); // roll rate low pass cut freq
|
||||
PARAM_DEFINE_FLOAT(FWB_Q_LP, 300.0f); // pitch rate low pass cut freq
|
||||
PARAM_DEFINE_FLOAT(FWB_R_LP, 300.0f); // yaw rate low pass cut freq
|
||||
|
||||
// yaw washout
|
||||
PARAM_DEFINE_FLOAT(FWB_R_HP, 1.0f); // yaw rate high pass
|
||||
|
||||
// stabilization mode
|
||||
PARAM_DEFINE_FLOAT(FWB_P2AIL, 0.1f); // roll rate 2 aileron
|
||||
PARAM_DEFINE_FLOAT(FWB_P2AIL, 0.3f); // roll rate 2 aileron
|
||||
PARAM_DEFINE_FLOAT(FWB_Q2ELV, 0.1f); // pitch rate 2 elevator
|
||||
PARAM_DEFINE_FLOAT(FWB_R2RDR, 0.1f); // yaw rate 2 rudder
|
||||
|
||||
// psi -> phi -> p
|
||||
PARAM_DEFINE_FLOAT(FWB_PSI2PHI, 2.0f); // heading 2 roll
|
||||
PARAM_DEFINE_FLOAT(FWB_PHI2P, 2.0f); // roll to roll rate
|
||||
PARAM_DEFINE_FLOAT(FWB_PHI_LIM_MAX, 1.0f); // roll limit
|
||||
PARAM_DEFINE_FLOAT(FWB_PSI2PHI, 0.5f); // heading 2 roll
|
||||
PARAM_DEFINE_FLOAT(FWB_PHI2P, 1.0f); // roll to roll rate
|
||||
PARAM_DEFINE_FLOAT(FWB_PHI_LIM_MAX, 0.3f); // roll limit, 28 deg
|
||||
|
||||
// velocity -> theta
|
||||
PARAM_DEFINE_FLOAT(FWB_V2THE_P, 0.5f);
|
||||
PARAM_DEFINE_FLOAT(FWB_V2THE_I, 0.0f);
|
||||
PARAM_DEFINE_FLOAT(FWB_V2THE_D, 0.0f);
|
||||
PARAM_DEFINE_FLOAT(FWB_V2THE_D_LP, 0.0f);
|
||||
PARAM_DEFINE_FLOAT(FWB_V2THE_I_MAX, 0.0f);
|
||||
PARAM_DEFINE_FLOAT(FWB_THE_MIN, -1.0f);
|
||||
PARAM_DEFINE_FLOAT(FWB_THE_MAX, 1.0f);
|
||||
PARAM_DEFINE_FLOAT(FWB_V2THE_P, 1.0f); // velocity to pitch angle PID, prop gain
|
||||
PARAM_DEFINE_FLOAT(FWB_V2THE_I, 0.0f); // integral gain
|
||||
PARAM_DEFINE_FLOAT(FWB_V2THE_D, 0.0f); // derivative gain
|
||||
PARAM_DEFINE_FLOAT(FWB_V2THE_D_LP, 0.0f); // derivative low-pass
|
||||
PARAM_DEFINE_FLOAT(FWB_V2THE_I_MAX, 0.0f); // integrator wind up guard
|
||||
PARAM_DEFINE_FLOAT(FWB_THE_MIN, -0.5f); // the max commanded pitch angle
|
||||
PARAM_DEFINE_FLOAT(FWB_THE_MAX, 0.5f); // the min commanded pitch angle
|
||||
|
||||
|
||||
// theta -> q
|
||||
PARAM_DEFINE_FLOAT(FWB_THE2Q_P, 1.0f);
|
||||
PARAM_DEFINE_FLOAT(FWB_THE2Q_P, 1.0f); // pitch angle to pitch-rate PID
|
||||
PARAM_DEFINE_FLOAT(FWB_THE2Q_I, 0.0f);
|
||||
PARAM_DEFINE_FLOAT(FWB_THE2Q_D, 0.0f);
|
||||
PARAM_DEFINE_FLOAT(FWB_THE2Q_D_LP, 0.0f);
|
||||
PARAM_DEFINE_FLOAT(FWB_THE2Q_I_MAX, 0.0f);
|
||||
|
||||
// h -> thr
|
||||
PARAM_DEFINE_FLOAT(FWB_H2THR_P, 0.005f);
|
||||
PARAM_DEFINE_FLOAT(FWB_H2THR_I, 0.001f);
|
||||
PARAM_DEFINE_FLOAT(FWB_H2THR_D, 0.01f);
|
||||
PARAM_DEFINE_FLOAT(FWB_H2THR_D_LP, 1.0f);
|
||||
PARAM_DEFINE_FLOAT(FWB_H2THR_I_MAX, 250.0f);
|
||||
PARAM_DEFINE_FLOAT(FWB_H2THR_P, 0.01f); // altitude to throttle PID
|
||||
PARAM_DEFINE_FLOAT(FWB_H2THR_I, 0.0f);
|
||||
PARAM_DEFINE_FLOAT(FWB_H2THR_D, 0.0f);
|
||||
PARAM_DEFINE_FLOAT(FWB_H2THR_D_LP, 0.0f);
|
||||
PARAM_DEFINE_FLOAT(FWB_H2THR_I_MAX, 0.0f);
|
||||
|
||||
// crosstrack
|
||||
PARAM_DEFINE_FLOAT(FWB_XT2YAW_MAX, 1.0f);
|
||||
PARAM_DEFINE_FLOAT(FWB_XT2YAW, 0.01f);
|
||||
PARAM_DEFINE_FLOAT(FWB_XT2YAW_MAX, 1.57f); // cross-track to yaw angle limit 90 deg
|
||||
PARAM_DEFINE_FLOAT(FWB_XT2YAW, 0.005f); // cross-track to yaw angle gain
|
||||
|
||||
// speed command
|
||||
PARAM_DEFINE_FLOAT(FWB_V_MIN, 20.0f);
|
||||
PARAM_DEFINE_FLOAT(FWB_V_CMD, 22.0f);
|
||||
PARAM_DEFINE_FLOAT(FWB_V_MAX, 24.0f);
|
||||
PARAM_DEFINE_FLOAT(FWB_V_MIN, 20.0f); // minimum commanded velocity
|
||||
PARAM_DEFINE_FLOAT(FWB_V_CMD, 22.0f); // commanded velocity
|
||||
PARAM_DEFINE_FLOAT(FWB_V_MAX, 24.0f); // maximum commanded velocity
|
||||
|
||||
// trim
|
||||
PARAM_DEFINE_FLOAT(FWB_TRIM_AIL, 0.0f);
|
||||
PARAM_DEFINE_FLOAT(FWB_TRIM_ELV, 0.0f);
|
||||
PARAM_DEFINE_FLOAT(FWB_TRIM_RDR, 0.0f);
|
||||
PARAM_DEFINE_FLOAT(FWB_TRIM_THR, 0.7f);
|
||||
PARAM_DEFINE_FLOAT(FWB_TRIM_AIL, 0.0f); // trim aileron, normalized (-1,1)
|
||||
PARAM_DEFINE_FLOAT(FWB_TRIM_ELV, 0.005f); // trim elevator (-1,1)
|
||||
PARAM_DEFINE_FLOAT(FWB_TRIM_RDR, 0.0f); // trim rudder (-1,1)
|
||||
PARAM_DEFINE_FLOAT(FWB_TRIM_THR, 0.8f); // trim throttle (0,1)
|
||||
|
|
|
@ -54,10 +54,14 @@ COBJS = $(CSRCS:.c=$(OBJEXT))
|
|||
SRCS = $(ASRCS) $(CSRCS)
|
||||
OBJS = $(AOBJS) $(COBJS)
|
||||
|
||||
ifeq ($(WINTOOL),y)
|
||||
BIN = "${shell cygpath -w $(APPDIR)/libapps$(LIBEXT)}"
|
||||
ifeq ($(CONFIG_WINDOWS_NATIVE),y)
|
||||
BIN = ..\..\libapps$(LIBEXT)
|
||||
else
|
||||
BIN = "$(APPDIR)/libapps$(LIBEXT)"
|
||||
ifeq ($(WINTOOL),y)
|
||||
BIN = ..\\..\\libapps$(LIBEXT)
|
||||
else
|
||||
BIN = ../../libapps$(LIBEXT)
|
||||
endif
|
||||
endif
|
||||
|
||||
ROOTDEPPATH = --dep-path .
|
||||
|
@ -76,9 +80,7 @@ $(COBJS): %$(OBJEXT): %.c
|
|||
$(call COMPILE, $<, $@)
|
||||
|
||||
.built: $(OBJS)
|
||||
@( for obj in $(OBJS) ; do \
|
||||
$(call ARCHIVE, $(BIN), $${obj}); \
|
||||
done ; )
|
||||
$(call ARCHIVE, $(BIN), $(OBJS))
|
||||
@touch .built
|
||||
|
||||
.context:
|
||||
|
@ -90,16 +92,17 @@ endif
|
|||
context: .context
|
||||
|
||||
.depend: Makefile $(SRCS)
|
||||
@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
@touch $@
|
||||
|
||||
depend: .depend
|
||||
|
||||
clean:
|
||||
@rm -f *.o *~ .*.swp .built
|
||||
$(call DELFILE, .built)
|
||||
$(call CLEAN)
|
||||
|
||||
distclean: clean
|
||||
@rm -f Make.dep .depend
|
||||
$(call DELFILE, Make.dep)
|
||||
$(call DELFILE, .depend)
|
||||
|
||||
-include Make.dep
|
||||
|
|
|
@ -1,7 +1,7 @@
|
|||
############################################################################
|
||||
# apps/examples/helloxx/Makefile
|
||||
#
|
||||
# Copyright (C) 2009-2011 Gregory Nutt. All rights reserved.
|
||||
# Copyright (C) 2009-2012 Gregory Nutt. All rights reserved.
|
||||
# Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
|
@ -50,10 +50,14 @@ CXXOBJS = $(CXXSRCS:.cxx=$(OBJEXT))
|
|||
SRCS = $(ASRCS) $(CSRCS) $(CXXSRCS)
|
||||
OBJS = $(AOBJS) $(COBJS) $(CXXOBJS)
|
||||
|
||||
ifeq ($(WINTOOL),y)
|
||||
BIN = "${shell cygpath -w $(APPDIR)/libapps$(LIBEXT)}"
|
||||
ifeq ($(CONFIG_WINDOWS_NATIVE),y)
|
||||
BIN = ..\..\libapps$(LIBEXT)
|
||||
else
|
||||
BIN = "$(APPDIR)/libapps$(LIBEXT)"
|
||||
ifeq ($(WINTOOL),y)
|
||||
BIN = ..\\..\\libapps$(LIBEXT)
|
||||
else
|
||||
BIN = ../../libapps$(LIBEXT)
|
||||
endif
|
||||
endif
|
||||
|
||||
ROOTDEPPATH = --dep-path .
|
||||
|
@ -69,7 +73,7 @@ STACKSIZE = 2048
|
|||
VPATH =
|
||||
|
||||
all: .built
|
||||
.PHONY: clean depend disclean chkcxx
|
||||
.PHONY: clean depend distclean chkcxx
|
||||
|
||||
chkcxx:
|
||||
ifneq ($(CONFIG_HAVE_CXX),y)
|
||||
|
@ -93,9 +97,7 @@ $(CXXOBJS): %$(OBJEXT): %.cxx
|
|||
$(call COMPILEXX, $<, $@)
|
||||
|
||||
.built: chkcxx $(OBJS)
|
||||
@( for obj in $(OBJS) ; do \
|
||||
$(call ARCHIVE, $(BIN), $${obj}); \
|
||||
done ; )
|
||||
$(call ARCHIVE, $(BIN), $(OBJS))
|
||||
@touch .built
|
||||
|
||||
.context:
|
||||
|
@ -107,16 +109,17 @@ endif
|
|||
context: .context
|
||||
|
||||
.depend: Makefile $(SRCS)
|
||||
@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
@touch $@
|
||||
|
||||
depend: .depend
|
||||
|
||||
clean:
|
||||
@rm -f *.o *~ .*.swp .built
|
||||
$(call DELFILE, .built)
|
||||
$(call CLEAN)
|
||||
|
||||
distclean: clean
|
||||
@rm -f Make.dep .depend
|
||||
$(call DELFILE, Make.dep)
|
||||
$(call DELFILE, .depend)
|
||||
|
||||
-include Make.dep
|
||||
|
|
|
@ -42,10 +42,12 @@
|
|||
#include "KalmanNav.hpp"
|
||||
|
||||
// constants
|
||||
// Titterton pg. 52
|
||||
static const float omega = 7.2921150e-5f; // earth rotation rate, rad/s
|
||||
static const float R = 6.371000e6f; // earth radius, m
|
||||
static const float RSq = 4.0589641e13f; // radius squared
|
||||
static const float g = 9.8f; // gravitational accel. m/s^2
|
||||
static const float R0 = 6378137.0f; // earth radius, m
|
||||
static const float g0 = 9.806f; // standard gravitational accel. m/s^2
|
||||
static const int8_t ret_ok = 0; // no error in function
|
||||
static const int8_t ret_error = -1; // error occurred
|
||||
|
||||
KalmanNav::KalmanNav(SuperBlock *parent, const char *name) :
|
||||
SuperBlock(parent, name),
|
||||
|
@ -53,33 +55,36 @@ KalmanNav::KalmanNav(SuperBlock *parent, const char *name) :
|
|||
F(9, 9),
|
||||
G(9, 6),
|
||||
P(9, 9),
|
||||
P0(9, 9),
|
||||
V(6, 6),
|
||||
// attitude measurement ekf matrices
|
||||
HAtt(6, 9),
|
||||
RAtt(6, 6),
|
||||
// gps measurement ekf matrices
|
||||
HGps(6, 9),
|
||||
RGps(6, 6),
|
||||
// position measurement ekf matrices
|
||||
HPos(5, 9),
|
||||
RPos(5, 5),
|
||||
// attitude representations
|
||||
C_nb(),
|
||||
q(),
|
||||
// subscriptions
|
||||
_sensors(&getSubscriptions(), ORB_ID(sensor_combined), 5), // limit to 200 Hz
|
||||
_gps(&getSubscriptions(), ORB_ID(vehicle_gps_position), 1000), // limit to 1 Hz
|
||||
_gps(&getSubscriptions(), ORB_ID(vehicle_gps_position), 100), // limit to 10 Hz
|
||||
_param_update(&getSubscriptions(), ORB_ID(parameter_update), 1000), // limit to 1 Hz
|
||||
// publications
|
||||
_pos(&getPublications(), ORB_ID(vehicle_global_position)),
|
||||
_att(&getPublications(), ORB_ID(vehicle_attitude)),
|
||||
// timestamps
|
||||
_pubTimeStamp(hrt_absolute_time()),
|
||||
_fastTimeStamp(hrt_absolute_time()),
|
||||
_slowTimeStamp(hrt_absolute_time()),
|
||||
_predictTimeStamp(hrt_absolute_time()),
|
||||
_attTimeStamp(hrt_absolute_time()),
|
||||
_outTimeStamp(hrt_absolute_time()),
|
||||
// frame count
|
||||
_navFrames(0),
|
||||
// state
|
||||
// miss counts
|
||||
_miss(0),
|
||||
// accelerations
|
||||
fN(0), fE(0), fD(0),
|
||||
// state
|
||||
phi(0), theta(0), psi(0),
|
||||
vN(0), vE(0), vD(0),
|
||||
lat(0), lon(0), alt(0),
|
||||
|
@ -87,36 +92,35 @@ KalmanNav::KalmanNav(SuperBlock *parent, const char *name) :
|
|||
_vGyro(this, "V_GYRO"),
|
||||
_vAccel(this, "V_ACCEL"),
|
||||
_rMag(this, "R_MAG"),
|
||||
_rGpsV(this, "R_GPS_V"),
|
||||
_rGpsGeo(this, "R_GPS_GEO"),
|
||||
_rGpsVel(this, "R_GPS_VEL"),
|
||||
_rGpsPos(this, "R_GPS_POS"),
|
||||
_rGpsAlt(this, "R_GPS_ALT"),
|
||||
_rAccel(this, "R_ACCEL")
|
||||
_rAccel(this, "R_ACCEL"),
|
||||
_magDip(this, "ENV_MAG_DIP"),
|
||||
_magDec(this, "ENV_MAG_DEC"),
|
||||
_g(this, "ENV_G"),
|
||||
_faultPos(this, "FAULT_POS"),
|
||||
_faultAtt(this, "FAULT_ATT"),
|
||||
_attitudeInitialized(false),
|
||||
_positionInitialized(false),
|
||||
_attitudeInitCounter(0)
|
||||
{
|
||||
using namespace math;
|
||||
|
||||
// initial state covariance matrix
|
||||
P = Matrix::identity(9) * 1.0f;
|
||||
|
||||
// wait for gps lock
|
||||
while (1) {
|
||||
updateSubscriptions();
|
||||
|
||||
if (_gps.fix_type > 2) break;
|
||||
|
||||
printf("[kalman_demo] waiting for gps lock\n");
|
||||
usleep(1000000);
|
||||
}
|
||||
P0 = Matrix::identity(9) * 0.01f;
|
||||
P = P0;
|
||||
|
||||
// initial state
|
||||
phi = 0.0f;
|
||||
theta = 0.0f;
|
||||
psi = 0.0f;
|
||||
vN = _gps.vel_n;
|
||||
vE = _gps.vel_e;
|
||||
vD = _gps.vel_d;
|
||||
setLatDegE7(_gps.lat);
|
||||
setLonDegE7(_gps.lon);
|
||||
setAltE3(_gps.alt);
|
||||
vN = 0.0f;
|
||||
vE = 0.0f;
|
||||
vD = 0.0f;
|
||||
lat = 0.0f;
|
||||
lon = 0.0f;
|
||||
alt = 0.0f;
|
||||
|
||||
// initialize quaternions
|
||||
q = Quaternion(EulerAngles(phi, theta, psi));
|
||||
|
@ -124,16 +128,12 @@ KalmanNav::KalmanNav(SuperBlock *parent, const char *name) :
|
|||
// initialize dcm
|
||||
C_nb = Dcm(q);
|
||||
|
||||
// initialize F to identity
|
||||
F = Matrix::identity(9);
|
||||
|
||||
// HGps is constant
|
||||
HGps(0, 3) = 1.0f;
|
||||
HGps(1, 4) = 1.0f;
|
||||
HGps(2, 5) = 1.0f;
|
||||
HGps(3, 6) = 1.0f;
|
||||
HGps(4, 7) = 1.0f;
|
||||
HGps(5, 8) = 1.0f;
|
||||
// HPos is constant
|
||||
HPos(0, 3) = 1.0f;
|
||||
HPos(1, 4) = 1.0f;
|
||||
HPos(2, 6) = 1.0e7f * M_RAD_TO_DEG_F;
|
||||
HPos(3, 7) = 1.0e7f * M_RAD_TO_DEG_F;
|
||||
HPos(4, 8) = 1.0f;
|
||||
|
||||
// initialize all parameters
|
||||
updateParams();
|
||||
|
@ -143,68 +143,95 @@ void KalmanNav::update()
|
|||
{
|
||||
using namespace math;
|
||||
|
||||
struct pollfd fds[2];
|
||||
struct pollfd fds[1];
|
||||
fds[0].fd = _sensors.getHandle();
|
||||
fds[0].events = POLLIN;
|
||||
fds[1].fd = _param_update.getHandle();
|
||||
fds[1].events = POLLIN;
|
||||
|
||||
// poll 20 milliseconds for new data
|
||||
int ret = poll(fds, 2, 20);
|
||||
// poll for new data
|
||||
int ret = poll(fds, 1, 1000);
|
||||
|
||||
// check return value
|
||||
if (ret < 0) {
|
||||
// XXX this is seriously bad - should be an emergency
|
||||
return;
|
||||
|
||||
} else if (ret == 0) { // timeout
|
||||
// run anyway
|
||||
} else if (ret > 0) {
|
||||
// update params when requested
|
||||
if (fds[1].revents & POLLIN) {
|
||||
printf("updating params\n");
|
||||
updateParams();
|
||||
}
|
||||
|
||||
// if no new sensor data, return
|
||||
if (!(fds[0].revents & POLLIN)) return;
|
||||
return;
|
||||
}
|
||||
|
||||
// get new timestamp
|
||||
uint64_t newTimeStamp = hrt_absolute_time();
|
||||
|
||||
// check updated subscriptions
|
||||
if (_param_update.updated()) updateParams();
|
||||
|
||||
bool gpsUpdate = _gps.updated();
|
||||
bool sensorsUpdate = _sensors.updated();
|
||||
|
||||
// get new information from subscriptions
|
||||
// this clears update flag
|
||||
updateSubscriptions();
|
||||
|
||||
// count fast frames
|
||||
_navFrames += 1;
|
||||
// initialize attitude when sensors online
|
||||
if (!_attitudeInitialized && sensorsUpdate &&
|
||||
_sensors.accelerometer_counter > 10 &&
|
||||
_sensors.gyro_counter > 10 &&
|
||||
_sensors.magnetometer_counter > 10) {
|
||||
if (correctAtt() == ret_ok) _attitudeInitCounter++;
|
||||
|
||||
// fast prediciton step
|
||||
// note, using sensors timestamp so we can account
|
||||
// for packet lag
|
||||
float dtFast = (_sensors.timestamp - _fastTimeStamp) / 1.0e6f;
|
||||
_fastTimeStamp = _sensors.timestamp;
|
||||
predictFast(dtFast);
|
||||
|
||||
// slow prediction step
|
||||
float dtSlow = (_sensors.timestamp - _slowTimeStamp) / 1.0e6f;
|
||||
|
||||
if (dtSlow > 1.0f / 200) { // 200 Hz
|
||||
_slowTimeStamp = _sensors.timestamp;
|
||||
predictSlow(dtSlow);
|
||||
if (_attitudeInitCounter > 100) {
|
||||
printf("[kalman_demo] initialized EKF attitude\n");
|
||||
printf("phi: %8.4f, theta: %8.4f, psi: %8.4f\n",
|
||||
double(phi), double(theta), double(psi));
|
||||
_attitudeInitialized = true;
|
||||
}
|
||||
}
|
||||
|
||||
// initialize position when gps received
|
||||
if (!_positionInitialized &&
|
||||
_attitudeInitialized && // wait for attitude first
|
||||
gpsUpdate &&
|
||||
_gps.fix_type > 2 &&
|
||||
_gps.counter_pos_valid > 10) {
|
||||
vN = _gps.vel_n;
|
||||
vE = _gps.vel_e;
|
||||
vD = _gps.vel_d;
|
||||
setLatDegE7(_gps.lat);
|
||||
setLonDegE7(_gps.lon);
|
||||
setAltE3(_gps.alt);
|
||||
_positionInitialized = true;
|
||||
printf("[kalman_demo] initialized EKF state with GPS\n");
|
||||
printf("vN: %8.4f, vE: %8.4f, vD: %8.4f, lat: %8.4f, lon: %8.4f, alt: %8.4f\n",
|
||||
double(vN), double(vE), double(vD),
|
||||
lat, lon, alt);
|
||||
}
|
||||
|
||||
// prediciton step
|
||||
// using sensors timestamp so we can account for packet lag
|
||||
float dt = (_sensors.timestamp - _predictTimeStamp) / 1.0e6f;
|
||||
//printf("dt: %15.10f\n", double(dt));
|
||||
_predictTimeStamp = _sensors.timestamp;
|
||||
|
||||
// don't predict if time greater than a second
|
||||
if (dt < 1.0f) {
|
||||
predictState(dt);
|
||||
predictStateCovariance(dt);
|
||||
// count fast frames
|
||||
_navFrames += 1;
|
||||
}
|
||||
|
||||
// count times 100 Hz rate isn't met
|
||||
if (dt > 0.01f) _miss++;
|
||||
|
||||
// gps correction step
|
||||
if (gpsUpdate) {
|
||||
correctGps();
|
||||
if (_positionInitialized && gpsUpdate) {
|
||||
correctPos();
|
||||
}
|
||||
|
||||
// attitude correction step
|
||||
if (_sensors.timestamp - _attTimeStamp > 1e6 / 1) { // 1 Hz
|
||||
if (_attitudeInitialized // initialized
|
||||
&& sensorsUpdate // new data
|
||||
&& _sensors.timestamp - _attTimeStamp > 1e6 / 20 // 20 Hz
|
||||
) {
|
||||
_attTimeStamp = _sensors.timestamp;
|
||||
correctAtt();
|
||||
}
|
||||
|
@ -212,14 +239,17 @@ void KalmanNav::update()
|
|||
// publication
|
||||
if (newTimeStamp - _pubTimeStamp > 1e6 / 50) { // 50 Hz
|
||||
_pubTimeStamp = newTimeStamp;
|
||||
|
||||
updatePublications();
|
||||
}
|
||||
|
||||
// output
|
||||
if (newTimeStamp - _outTimeStamp > 1e6) { // 1 Hz
|
||||
if (newTimeStamp - _outTimeStamp > 10e6) { // 0.1 Hz
|
||||
_outTimeStamp = newTimeStamp;
|
||||
printf("nav: %4d Hz\n", _navFrames);
|
||||
printf("nav: %4d Hz, miss #: %4d\n",
|
||||
_navFrames / 10, _miss / 10);
|
||||
_navFrames = 0;
|
||||
_miss = 0;
|
||||
}
|
||||
}
|
||||
|
||||
|
@ -262,66 +292,87 @@ void KalmanNav::updatePublications()
|
|||
_att.q_valid = true;
|
||||
_att.counter = _navFrames;
|
||||
|
||||
// update publications
|
||||
SuperBlock::updatePublications();
|
||||
// selectively update publications,
|
||||
// do NOT call superblock do-all method
|
||||
if (_positionInitialized)
|
||||
_pos.update();
|
||||
|
||||
if (_attitudeInitialized)
|
||||
_att.update();
|
||||
}
|
||||
|
||||
void KalmanNav::predictFast(float dt)
|
||||
int KalmanNav::predictState(float dt)
|
||||
{
|
||||
using namespace math;
|
||||
Vector3 w(_sensors.gyro_rad_s);
|
||||
|
||||
// attitude
|
||||
q = q + q.derivative(w) * dt;
|
||||
|
||||
// renormalize quaternion if needed
|
||||
if (fabsf(q.norm() - 1.0f) > 1e-4f) {
|
||||
q = q.unit();
|
||||
}
|
||||
|
||||
// C_nb update
|
||||
C_nb = Dcm(q);
|
||||
|
||||
// euler update
|
||||
EulerAngles euler(C_nb);
|
||||
phi = euler.getPhi();
|
||||
theta = euler.getTheta();
|
||||
psi = euler.getPsi();
|
||||
|
||||
// specific acceleration in nav frame
|
||||
Vector3 accelB(_sensors.accelerometer_m_s2);
|
||||
Vector3 accelN = C_nb * accelB;
|
||||
fN = accelN(0);
|
||||
fE = accelN(1);
|
||||
fD = accelN(2);
|
||||
|
||||
// trig
|
||||
float sinL = sinf(lat);
|
||||
float cosL = cosf(lat);
|
||||
float cosLSing = cosf(lat);
|
||||
|
||||
// position update
|
||||
// neglects angular deflections in local gravity
|
||||
// see Titerton pg. 70
|
||||
float LDot = vN / (R + float(alt));
|
||||
float lDot = vE / (cosL * (R + float(alt)));
|
||||
float vNDot = fN - vE * (2 * omega +
|
||||
lDot) * sinL +
|
||||
vD * LDot;
|
||||
float vDDot = fD - vE * (2 * omega + lDot) * cosL -
|
||||
vN * LDot + g;
|
||||
float vEDot = fE + vN * (2 * omega + lDot) * sinL +
|
||||
vDDot * (2 * omega * cosL);
|
||||
// prevent singularity
|
||||
if (fabsf(cosLSing) < 0.01f) {
|
||||
if (cosLSing > 0) cosLSing = 0.01;
|
||||
else cosLSing = -0.01;
|
||||
}
|
||||
|
||||
// rectangular integration
|
||||
vN += vNDot * dt;
|
||||
vE += vEDot * dt;
|
||||
vD += vDDot * dt;
|
||||
lat += double(LDot * dt);
|
||||
lon += double(lDot * dt);
|
||||
alt += double(-vD * dt);
|
||||
// attitude prediction
|
||||
if (_attitudeInitialized) {
|
||||
Vector3 w(_sensors.gyro_rad_s);
|
||||
|
||||
// attitude
|
||||
q = q + q.derivative(w) * dt;
|
||||
|
||||
// renormalize quaternion if needed
|
||||
if (fabsf(q.norm() - 1.0f) > 1e-4f) {
|
||||
q = q.unit();
|
||||
}
|
||||
|
||||
// C_nb update
|
||||
C_nb = Dcm(q);
|
||||
|
||||
// euler update
|
||||
EulerAngles euler(C_nb);
|
||||
phi = euler.getPhi();
|
||||
theta = euler.getTheta();
|
||||
psi = euler.getPsi();
|
||||
|
||||
// specific acceleration in nav frame
|
||||
Vector3 accelB(_sensors.accelerometer_m_s2);
|
||||
Vector3 accelN = C_nb * accelB;
|
||||
fN = accelN(0);
|
||||
fE = accelN(1);
|
||||
fD = accelN(2);
|
||||
}
|
||||
|
||||
// position prediction
|
||||
if (_positionInitialized) {
|
||||
// neglects angular deflections in local gravity
|
||||
// see Titerton pg. 70
|
||||
float R = R0 + float(alt);
|
||||
float LDot = vN / R;
|
||||
float lDot = vE / (cosLSing * R);
|
||||
float rotRate = 2 * omega + lDot;
|
||||
float vNDot = fN - vE * rotRate * sinL +
|
||||
vD * LDot;
|
||||
float vDDot = fD - vE * rotRate * cosL -
|
||||
vN * LDot + _g.get();
|
||||
float vEDot = fE + vN * rotRate * sinL +
|
||||
vDDot * rotRate * cosL;
|
||||
|
||||
// rectangular integration
|
||||
vN += vNDot * dt;
|
||||
vE += vEDot * dt;
|
||||
vD += vDDot * dt;
|
||||
lat += double(LDot * dt);
|
||||
lon += double(lDot * dt);
|
||||
alt += double(-vD * dt);
|
||||
}
|
||||
|
||||
return ret_ok;
|
||||
}
|
||||
|
||||
void KalmanNav::predictSlow(float dt)
|
||||
int KalmanNav::predictStateCovariance(float dt)
|
||||
{
|
||||
using namespace math;
|
||||
|
||||
|
@ -331,90 +382,94 @@ void KalmanNav::predictSlow(float dt)
|
|||
float cosLSq = cosL * cosL;
|
||||
float tanL = tanf(lat);
|
||||
|
||||
// prepare for matrix
|
||||
float R = R0 + float(alt);
|
||||
float RSq = R * R;
|
||||
|
||||
// F Matrix
|
||||
// Titterton pg. 291
|
||||
//
|
||||
// difference from Jacobian
|
||||
// multiplity by dt for all elements
|
||||
// add 1.0 to diagonal elements
|
||||
|
||||
F(0, 1) = (-(omega * sinL + vE * tanL / R)) * dt;
|
||||
F(0, 2) = (vN / R) * dt;
|
||||
F(0, 4) = (1.0f / R) * dt;
|
||||
F(0, 6) = (-omega * sinL) * dt;
|
||||
F(0, 8) = (-vE / RSq) * dt;
|
||||
F(0, 1) = -(omega * sinL + vE * tanL / R);
|
||||
F(0, 2) = vN / R;
|
||||
F(0, 4) = 1.0f / R;
|
||||
F(0, 6) = -omega * sinL;
|
||||
F(0, 8) = -vE / RSq;
|
||||
|
||||
F(1, 0) = (omega * sinL + vE * tanL / R) * dt;
|
||||
F(1, 2) = (omega * cosL + vE / R) * dt;
|
||||
F(1, 3) = (-1.0f / R) * dt;
|
||||
F(1, 8) = (vN / RSq) * dt;
|
||||
F(1, 0) = omega * sinL + vE * tanL / R;
|
||||
F(1, 2) = omega * cosL + vE / R;
|
||||
F(1, 3) = -1.0f / R;
|
||||
F(1, 8) = vN / RSq;
|
||||
|
||||
F(2, 0) = (-vN / R) * dt;
|
||||
F(2, 1) = (-omega * cosL - vE / R) * dt;
|
||||
F(2, 4) = (-tanL / R) * dt;
|
||||
F(2, 6) = (-omega * cosL - vE / (R * cosLSq)) * dt;
|
||||
F(2, 8) = (vE * tanL / RSq) * dt;
|
||||
F(2, 0) = -vN / R;
|
||||
F(2, 1) = -omega * cosL - vE / R;
|
||||
F(2, 4) = -tanL / R;
|
||||
F(2, 6) = -omega * cosL - vE / (R * cosLSq);
|
||||
F(2, 8) = vE * tanL / RSq;
|
||||
|
||||
F(3, 1) = (-fD) * dt;
|
||||
F(3, 2) = (fE) * dt;
|
||||
F(3, 3) = 1.0f + (vD / R) * dt; // on diagonal
|
||||
F(3, 4) = (-2 * (omega * sinL + vE * tanL / R)) * dt;
|
||||
F(3, 5) = (vN / R) * dt;
|
||||
F(3, 6) = (-vE * (2 * omega * cosL + vE / (R * cosLSq))) * dt;
|
||||
F(3, 8) = ((vE * vE * tanL - vN * vD) / RSq) * dt;
|
||||
F(3, 1) = -fD;
|
||||
F(3, 2) = fE;
|
||||
F(3, 3) = vD / R;
|
||||
F(3, 4) = -2 * (omega * sinL + vE * tanL / R);
|
||||
F(3, 5) = vN / R;
|
||||
F(3, 6) = -vE * (2 * omega * cosL + vE / (R * cosLSq));
|
||||
F(3, 8) = (vE * vE * tanL - vN * vD) / RSq;
|
||||
|
||||
F(4, 0) = (fD) * dt;
|
||||
F(4, 2) = (-fN) * dt;
|
||||
F(4, 3) = (2 * omega * sinL + vE * tanL / R) * dt;
|
||||
F(4, 4) = 1.0f + ((vN * tanL + vD) / R) * dt; // on diagonal
|
||||
F(4, 5) = (2 * omega * cosL + vE / R) * dt;
|
||||
F(4, 6) = (2 * omega * (vN * cosL - vD * sinL) +
|
||||
vN * vE / (R * cosLSq)) * dt;
|
||||
F(4, 8) = (-vE * (vN * tanL + vD) / RSq) * dt;
|
||||
F(4, 0) = fD;
|
||||
F(4, 2) = -fN;
|
||||
F(4, 3) = 2 * omega * sinL + vE * tanL / R;
|
||||
F(4, 4) = (vN * tanL + vD) / R;
|
||||
F(4, 5) = 2 * omega * cosL + vE / R;
|
||||
F(4, 6) = 2 * omega * (vN * cosL - vD * sinL) +
|
||||
vN * vE / (R * cosLSq);
|
||||
F(4, 8) = -vE * (vN * tanL + vD) / RSq;
|
||||
|
||||
F(5, 0) = (-fE) * dt;
|
||||
F(5, 1) = (fN) * dt;
|
||||
F(5, 3) = (-2 * vN / R) * dt;
|
||||
F(5, 4) = (-2 * (omega * cosL + vE / R)) * dt;
|
||||
F(5, 6) = (2 * omega * vE * sinL) * dt;
|
||||
F(5, 8) = ((vN * vN + vE * vE) / RSq) * dt;
|
||||
F(5, 0) = -fE;
|
||||
F(5, 1) = fN;
|
||||
F(5, 3) = -2 * vN / R;
|
||||
F(5, 4) = -2 * (omega * cosL + vE / R);
|
||||
F(5, 6) = 2 * omega * vE * sinL;
|
||||
F(5, 8) = (vN * vN + vE * vE) / RSq;
|
||||
|
||||
F(6, 3) = (1 / R) * dt;
|
||||
F(6, 8) = (-vN / RSq) * dt;
|
||||
F(6, 3) = 1 / R;
|
||||
F(6, 8) = -vN / RSq;
|
||||
|
||||
F(7, 4) = (1 / (R * cosL)) * dt;
|
||||
F(7, 6) = (vE * tanL / (R * cosL)) * dt;
|
||||
F(7, 8) = (-vE / (cosL * RSq)) * dt;
|
||||
F(7, 4) = 1 / (R * cosL);
|
||||
F(7, 6) = vE * tanL / (R * cosL);
|
||||
F(7, 8) = -vE / (cosL * RSq);
|
||||
|
||||
F(8, 5) = (-1) * dt;
|
||||
F(8, 5) = -1;
|
||||
|
||||
// G Matrix
|
||||
// Titterton pg. 291
|
||||
G(0, 0) = -C_nb(0, 0) * dt;
|
||||
G(0, 1) = -C_nb(0, 1) * dt;
|
||||
G(0, 2) = -C_nb(0, 2) * dt;
|
||||
G(1, 0) = -C_nb(1, 0) * dt;
|
||||
G(1, 1) = -C_nb(1, 1) * dt;
|
||||
G(1, 2) = -C_nb(1, 2) * dt;
|
||||
G(2, 0) = -C_nb(2, 0) * dt;
|
||||
G(2, 1) = -C_nb(2, 1) * dt;
|
||||
G(2, 2) = -C_nb(2, 2) * dt;
|
||||
G(0, 0) = -C_nb(0, 0);
|
||||
G(0, 1) = -C_nb(0, 1);
|
||||
G(0, 2) = -C_nb(0, 2);
|
||||
G(1, 0) = -C_nb(1, 0);
|
||||
G(1, 1) = -C_nb(1, 1);
|
||||
G(1, 2) = -C_nb(1, 2);
|
||||
G(2, 0) = -C_nb(2, 0);
|
||||
G(2, 1) = -C_nb(2, 1);
|
||||
G(2, 2) = -C_nb(2, 2);
|
||||
|
||||
G(3, 3) = C_nb(0, 0) * dt;
|
||||
G(3, 4) = C_nb(0, 1) * dt;
|
||||
G(3, 5) = C_nb(0, 2) * dt;
|
||||
G(4, 3) = C_nb(1, 0) * dt;
|
||||
G(4, 4) = C_nb(1, 1) * dt;
|
||||
G(4, 5) = C_nb(1, 2) * dt;
|
||||
G(5, 3) = C_nb(2, 0) * dt;
|
||||
G(5, 4) = C_nb(2, 1) * dt;
|
||||
G(5, 5) = C_nb(2, 2) * dt;
|
||||
G(3, 3) = C_nb(0, 0);
|
||||
G(3, 4) = C_nb(0, 1);
|
||||
G(3, 5) = C_nb(0, 2);
|
||||
G(4, 3) = C_nb(1, 0);
|
||||
G(4, 4) = C_nb(1, 1);
|
||||
G(4, 5) = C_nb(1, 2);
|
||||
G(5, 3) = C_nb(2, 0);
|
||||
G(5, 4) = C_nb(2, 1);
|
||||
G(5, 5) = C_nb(2, 2);
|
||||
|
||||
// predict equations for kalman filter
|
||||
P = F * P * F.transpose() + G * V * G.transpose();
|
||||
// continuous predictioon equations
|
||||
// for discrte time EKF
|
||||
// http://en.wikipedia.org/wiki/Extended_Kalman_filter
|
||||
P = P + (F * P + P * F.transpose() + G * V * G.transpose()) * dt;
|
||||
|
||||
return ret_ok;
|
||||
}
|
||||
|
||||
void KalmanNav::correctAtt()
|
||||
int KalmanNav::correctAtt()
|
||||
{
|
||||
using namespace math;
|
||||
|
||||
|
@ -428,13 +483,14 @@ void KalmanNav::correctAtt()
|
|||
|
||||
// mag measurement
|
||||
Vector3 zMag(_sensors.magnetometer_ga);
|
||||
//float magNorm = zMag.norm();
|
||||
zMag = zMag.unit();
|
||||
|
||||
// mag predicted measurement
|
||||
// choosing some typical magnetic field properties,
|
||||
// TODO dip/dec depend on lat/ lon/ time
|
||||
static const float dip = 60.0f / M_RAD_TO_DEG_F; // dip, inclination with level
|
||||
static const float dec = 0.0f / M_RAD_TO_DEG_F; // declination, clockwise rotation from north
|
||||
float dip = _magDip.get() / M_RAD_TO_DEG_F; // dip, inclination with level
|
||||
float dec = _magDec.get() / M_RAD_TO_DEG_F; // declination, clockwise rotation from north
|
||||
float bN = cosf(dip) * cosf(dec);
|
||||
float bE = cosf(dip) * sinf(dec);
|
||||
float bD = sinf(dip);
|
||||
|
@ -443,10 +499,25 @@ void KalmanNav::correctAtt()
|
|||
|
||||
// accel measurement
|
||||
Vector3 zAccel(_sensors.accelerometer_m_s2);
|
||||
float accelMag = zAccel.norm();
|
||||
zAccel = zAccel.unit();
|
||||
|
||||
// ignore accel correction when accel mag not close to g
|
||||
Matrix RAttAdjust = RAtt;
|
||||
|
||||
bool ignoreAccel = fabsf(accelMag - _g.get()) > 1.1f;
|
||||
|
||||
if (ignoreAccel) {
|
||||
RAttAdjust(3, 3) = 1.0e10;
|
||||
RAttAdjust(4, 4) = 1.0e10;
|
||||
RAttAdjust(5, 5) = 1.0e10;
|
||||
|
||||
} else {
|
||||
//printf("correcting attitude with accel\n");
|
||||
}
|
||||
|
||||
// accel predicted measurement
|
||||
Vector3 zAccelHat = (C_nb.transpose() * Vector3(0, 0, -1)).unit();
|
||||
Vector3 zAccelHat = (C_nb.transpose() * Vector3(0, 0, -_g.get())).unit();
|
||||
|
||||
// combined measurement
|
||||
Vector zAtt(6);
|
||||
|
@ -498,8 +569,9 @@ void KalmanNav::correctAtt()
|
|||
HAtt(5, 1) = cosPhi * sinTheta;
|
||||
|
||||
// compute correction
|
||||
// http://en.wikipedia.org/wiki/Extended_Kalman_filter
|
||||
Vector y = zAtt - zAttHat; // residual
|
||||
Matrix S = HAtt * P * HAtt.transpose() + RAtt; // residual covariance
|
||||
Matrix S = HAtt * P * HAtt.transpose() + RAttAdjust; // residual covariance
|
||||
Matrix K = P * HAtt.transpose() * S.inverse();
|
||||
Vector xCorrect = K * y;
|
||||
|
||||
|
@ -510,46 +582,65 @@ void KalmanNav::correctAtt()
|
|||
if (isnan(val) || isinf(val)) {
|
||||
// abort correction and return
|
||||
printf("[kalman_demo] numerical failure in att correction\n");
|
||||
return;
|
||||
// reset P matrix to P0
|
||||
P = P0;
|
||||
return ret_error;
|
||||
}
|
||||
}
|
||||
|
||||
// correct state
|
||||
phi += xCorrect(PHI);
|
||||
theta += xCorrect(THETA);
|
||||
if (!ignoreAccel) {
|
||||
phi += xCorrect(PHI);
|
||||
theta += xCorrect(THETA);
|
||||
}
|
||||
|
||||
psi += xCorrect(PSI);
|
||||
|
||||
// attitude also affects nav velocities
|
||||
if (_positionInitialized) {
|
||||
vN += xCorrect(VN);
|
||||
vE += xCorrect(VE);
|
||||
vD += xCorrect(VD);
|
||||
}
|
||||
|
||||
// update state covariance
|
||||
// http://en.wikipedia.org/wiki/Extended_Kalman_filter
|
||||
P = P - K * HAtt * P;
|
||||
|
||||
// fault detection
|
||||
float beta = y.dot(S.inverse() * y);
|
||||
printf("attitude: beta = %8.4f\n", (double)beta);
|
||||
|
||||
if (beta > 10.0f) {
|
||||
//printf("fault in attitude: beta = %8.4f\n", (double)beta);
|
||||
//printf("y:\n"); y.print();
|
||||
if (beta > _faultAtt.get()) {
|
||||
printf("fault in attitude: beta = %8.4f\n", (double)beta);
|
||||
printf("y:\n"); y.print();
|
||||
printf("zMagHat:\n"); zMagHat.print();
|
||||
printf("zMag:\n"); zMag.print();
|
||||
printf("bNav:\n"); bNav.print();
|
||||
}
|
||||
|
||||
// update quaternions from euler
|
||||
// angle correction
|
||||
q = Quaternion(EulerAngles(phi, theta, psi));
|
||||
|
||||
return ret_ok;
|
||||
}
|
||||
|
||||
void KalmanNav::correctGps()
|
||||
int KalmanNav::correctPos()
|
||||
{
|
||||
using namespace math;
|
||||
Vector y(6);
|
||||
|
||||
// residual
|
||||
Vector y(5);
|
||||
y(0) = _gps.vel_n - vN;
|
||||
y(1) = _gps.vel_e - vE;
|
||||
y(2) = _gps.vel_d - vD;
|
||||
y(3) = double(_gps.lat) / 1.0e7 / M_RAD_TO_DEG - lat;
|
||||
y(4) = double(_gps.lon) / 1.0e7 / M_RAD_TO_DEG - lon;
|
||||
y(5) = double(_gps.alt) / 1.0e3 - alt;
|
||||
y(2) = double(_gps.lat) - lat * 1.0e7 * M_RAD_TO_DEG;
|
||||
y(3) = double(_gps.lon) - lon * 1.0e7 * M_RAD_TO_DEG;
|
||||
y(4) = double(_gps.alt) / 1.0e3 - alt;
|
||||
|
||||
// compute correction
|
||||
Matrix S = HGps * P * HGps.transpose() + RGps; // residual covariance
|
||||
Matrix K = P * HGps.transpose() * S.inverse();
|
||||
// http://en.wikipedia.org/wiki/Extended_Kalman_filter
|
||||
Matrix S = HPos * P * HPos.transpose() + RPos; // residual covariance
|
||||
Matrix K = P * HPos.transpose() * S.inverse();
|
||||
Vector xCorrect = K * y;
|
||||
|
||||
// check correction is sane
|
||||
|
@ -566,7 +657,9 @@ void KalmanNav::correctGps()
|
|||
setLatDegE7(_gps.lat);
|
||||
setLonDegE7(_gps.lon);
|
||||
setAltE3(_gps.alt);
|
||||
return;
|
||||
// reset P matrix to P0
|
||||
P = P0;
|
||||
return ret_error;
|
||||
}
|
||||
}
|
||||
|
||||
|
@ -579,16 +672,23 @@ void KalmanNav::correctGps()
|
|||
alt += double(xCorrect(ALT));
|
||||
|
||||
// update state covariance
|
||||
P = P - K * HGps * P;
|
||||
// http://en.wikipedia.org/wiki/Extended_Kalman_filter
|
||||
P = P - K * HPos * P;
|
||||
|
||||
// fault detetcion
|
||||
float beta = y.dot(S.inverse() * y);
|
||||
printf("gps: beta = %8.4f\n", (double)beta);
|
||||
|
||||
if (beta > 100.0f) {
|
||||
//printf("fault in gps: beta = %8.4f\n", (double)beta);
|
||||
//printf("y:\n"); y.print();
|
||||
if (beta > _faultPos.get()) {
|
||||
printf("fault in gps: beta = %8.4f\n", (double)beta);
|
||||
printf("Y/N: vN: %8.4f, vE: %8.4f, lat: %8.4f, lon: %8.4f, alt: %8.4f\n",
|
||||
double(y(0) / sqrtf(RPos(0, 0))),
|
||||
double(y(1) / sqrtf(RPos(1, 1))),
|
||||
double(y(2) / sqrtf(RPos(2, 2))),
|
||||
double(y(3) / sqrtf(RPos(3, 3))),
|
||||
double(y(4) / sqrtf(RPos(4, 4))));
|
||||
}
|
||||
|
||||
return ret_ok;
|
||||
}
|
||||
|
||||
void KalmanNav::updateParams()
|
||||
|
@ -608,20 +708,54 @@ void KalmanNav::updateParams()
|
|||
V(5, 5) = _vAccel.get(); // accel z
|
||||
|
||||
// magnetometer noise
|
||||
RAtt(0, 0) = _rMag.get(); // normalized direction
|
||||
RAtt(1, 1) = _rMag.get();
|
||||
RAtt(2, 2) = _rMag.get();
|
||||
float noiseMin = 1e-6f;
|
||||
float noiseMagSq = _rMag.get() * _rMag.get();
|
||||
|
||||
if (noiseMagSq < noiseMin) noiseMagSq = noiseMin;
|
||||
|
||||
RAtt(0, 0) = noiseMagSq; // normalized direction
|
||||
RAtt(1, 1) = noiseMagSq;
|
||||
RAtt(2, 2) = noiseMagSq;
|
||||
|
||||
// accelerometer noise
|
||||
RAtt(3, 3) = _rAccel.get(); // normalized direction
|
||||
RAtt(4, 4) = _rAccel.get();
|
||||
RAtt(5, 5) = _rAccel.get();
|
||||
float noiseAccelSq = _rAccel.get() * _rAccel.get();
|
||||
|
||||
// bound noise to prevent singularities
|
||||
if (noiseAccelSq < noiseMin) noiseAccelSq = noiseMin;
|
||||
|
||||
RAtt(3, 3) = noiseAccelSq; // normalized direction
|
||||
RAtt(4, 4) = noiseAccelSq;
|
||||
RAtt(5, 5) = noiseAccelSq;
|
||||
|
||||
// gps noise
|
||||
RGps(0, 0) = _rGpsV.get(); // vn, m/s
|
||||
RGps(1, 1) = _rGpsV.get(); // ve
|
||||
RGps(2, 2) = _rGpsV.get(); // vd
|
||||
RGps(3, 3) = _rGpsGeo.get(); // L, rad
|
||||
RGps(4, 4) = _rGpsGeo.get(); // l, rad
|
||||
RGps(5, 5) = _rGpsAlt.get(); // h, m
|
||||
float R = R0 + float(alt);
|
||||
float cosLSing = cosf(lat);
|
||||
|
||||
// prevent singularity
|
||||
if (fabsf(cosLSing) < 0.01f) {
|
||||
if (cosLSing > 0) cosLSing = 0.01;
|
||||
else cosLSing = -0.01;
|
||||
}
|
||||
|
||||
float noiseVel = _rGpsVel.get();
|
||||
float noiseLatDegE7 = 1.0e7f * M_RAD_TO_DEG_F * _rGpsPos.get() / R;
|
||||
float noiseLonDegE7 = noiseLatDegE7 / cosLSing;
|
||||
float noiseAlt = _rGpsAlt.get();
|
||||
|
||||
// bound noise to prevent singularities
|
||||
if (noiseVel < noiseMin) noiseVel = noiseMin;
|
||||
|
||||
if (noiseLatDegE7 < noiseMin) noiseLatDegE7 = noiseMin;
|
||||
|
||||
if (noiseLonDegE7 < noiseMin) noiseLonDegE7 = noiseMin;
|
||||
|
||||
if (noiseAlt < noiseMin) noiseAlt = noiseMin;
|
||||
|
||||
RPos(0, 0) = noiseVel * noiseVel; // vn
|
||||
RPos(1, 1) = noiseVel * noiseVel; // ve
|
||||
RPos(2, 2) = noiseLatDegE7 * noiseLatDegE7; // lat
|
||||
RPos(3, 3) = noiseLonDegE7 * noiseLonDegE7; // lon
|
||||
RPos(4, 4) = noiseAlt * noiseAlt; // h
|
||||
// XXX, note that RPos depends on lat, so updateParams should
|
||||
// be called if lat changes significantly
|
||||
}
|
||||
|
|
|
@ -60,53 +60,116 @@
|
|||
#include <poll.h>
|
||||
#include <unistd.h>
|
||||
|
||||
/**
|
||||
* Kalman filter navigation class
|
||||
* http://en.wikipedia.org/wiki/Extended_Kalman_filter
|
||||
* Discrete-time extended Kalman filter
|
||||
*/
|
||||
class KalmanNav : public control::SuperBlock
|
||||
{
|
||||
public:
|
||||
/**
|
||||
* Constructor
|
||||
*/
|
||||
KalmanNav(SuperBlock *parent, const char *name);
|
||||
|
||||
/**
|
||||
* Deconstuctor
|
||||
*/
|
||||
|
||||
virtual ~KalmanNav() {};
|
||||
/**
|
||||
* The main callback function for the class
|
||||
*/
|
||||
void update();
|
||||
|
||||
|
||||
/**
|
||||
* Publication update
|
||||
*/
|
||||
virtual void updatePublications();
|
||||
void predictFast(float dt);
|
||||
void predictSlow(float dt);
|
||||
void correctAtt();
|
||||
void correctGps();
|
||||
|
||||
/**
|
||||
* State prediction
|
||||
* Continuous, non-linear
|
||||
*/
|
||||
int predictState(float dt);
|
||||
|
||||
/**
|
||||
* State covariance prediction
|
||||
* Continuous, linear
|
||||
*/
|
||||
int predictStateCovariance(float dt);
|
||||
|
||||
/**
|
||||
* Attitude correction
|
||||
*/
|
||||
int correctAtt();
|
||||
|
||||
/**
|
||||
* Position correction
|
||||
*/
|
||||
int correctPos();
|
||||
|
||||
/**
|
||||
* Overloaded update parameters
|
||||
*/
|
||||
virtual void updateParams();
|
||||
protected:
|
||||
math::Matrix F;
|
||||
math::Matrix G;
|
||||
math::Matrix P;
|
||||
math::Matrix V;
|
||||
math::Matrix HAtt;
|
||||
math::Matrix RAtt;
|
||||
math::Matrix HGps;
|
||||
math::Matrix RGps;
|
||||
math::Dcm C_nb;
|
||||
math::Quaternion q;
|
||||
control::UOrbSubscription<sensor_combined_s> _sensors;
|
||||
control::UOrbSubscription<vehicle_gps_position_s> _gps;
|
||||
control::UOrbSubscription<parameter_update_s> _param_update;
|
||||
control::UOrbPublication<vehicle_global_position_s> _pos;
|
||||
control::UOrbPublication<vehicle_attitude_s> _att;
|
||||
uint64_t _pubTimeStamp;
|
||||
uint64_t _fastTimeStamp;
|
||||
uint64_t _slowTimeStamp;
|
||||
uint64_t _attTimeStamp;
|
||||
uint64_t _outTimeStamp;
|
||||
uint16_t _navFrames;
|
||||
float fN, fE, fD;
|
||||
// kalman filter
|
||||
math::Matrix F; /**< Jacobian(f,x), where dx/dt = f(x,u) */
|
||||
math::Matrix G; /**< noise shaping matrix for gyro/accel */
|
||||
math::Matrix P; /**< state covariance matrix */
|
||||
math::Matrix P0; /**< initial state covariance matrix */
|
||||
math::Matrix V; /**< gyro/ accel noise matrix */
|
||||
math::Matrix HAtt; /**< attitude measurement matrix */
|
||||
math::Matrix RAtt; /**< attitude measurement noise matrix */
|
||||
math::Matrix HPos; /**< position measurement jacobian matrix */
|
||||
math::Matrix RPos; /**< position measurement noise matrix */
|
||||
// attitude
|
||||
math::Dcm C_nb; /**< direction cosine matrix from body to nav frame */
|
||||
math::Quaternion q; /**< quaternion from body to nav frame */
|
||||
// subscriptions
|
||||
control::UOrbSubscription<sensor_combined_s> _sensors; /**< sensors sub. */
|
||||
control::UOrbSubscription<vehicle_gps_position_s> _gps; /**< gps sub. */
|
||||
control::UOrbSubscription<parameter_update_s> _param_update; /**< parameter update sub. */
|
||||
// publications
|
||||
control::UOrbPublication<vehicle_global_position_s> _pos; /**< position pub. */
|
||||
control::UOrbPublication<vehicle_attitude_s> _att; /**< attitude pub. */
|
||||
// time stamps
|
||||
uint64_t _pubTimeStamp; /**< output data publication time stamp */
|
||||
uint64_t _predictTimeStamp; /**< prediction time stamp */
|
||||
uint64_t _attTimeStamp; /**< attitude correction time stamp */
|
||||
uint64_t _outTimeStamp; /**< output time stamp */
|
||||
// frame count
|
||||
uint16_t _navFrames; /**< navigation frames completed in output cycle */
|
||||
// miss counts
|
||||
uint16_t _miss; /**< number of times fast prediction loop missed */
|
||||
// accelerations
|
||||
float fN, fE, fD; /**< navigation frame acceleration */
|
||||
// states
|
||||
enum {PHI = 0, THETA, PSI, VN, VE, VD, LAT, LON, ALT};
|
||||
float phi, theta, psi;
|
||||
float vN, vE, vD;
|
||||
double lat, lon, alt;
|
||||
control::BlockParam<float> _vGyro;
|
||||
control::BlockParam<float> _vAccel;
|
||||
control::BlockParam<float> _rMag;
|
||||
control::BlockParam<float> _rGpsV;
|
||||
control::BlockParam<float> _rGpsGeo;
|
||||
control::BlockParam<float> _rGpsAlt;
|
||||
control::BlockParam<float> _rAccel;
|
||||
enum {PHI = 0, THETA, PSI, VN, VE, VD, LAT, LON, ALT}; /**< state enumeration */
|
||||
float phi, theta, psi; /**< 3-2-1 euler angles */
|
||||
float vN, vE, vD; /**< navigation velocity, m/s */
|
||||
double lat, lon, alt; /**< lat, lon, alt, radians */
|
||||
// parameters
|
||||
control::BlockParam<float> _vGyro; /**< gyro process noise */
|
||||
control::BlockParam<float> _vAccel; /**< accelerometer process noise */
|
||||
control::BlockParam<float> _rMag; /**< magnetometer measurement noise */
|
||||
control::BlockParam<float> _rGpsVel; /**< gps velocity measurement noise */
|
||||
control::BlockParam<float> _rGpsPos; /**< gps position measurement noise */
|
||||
control::BlockParam<float> _rGpsAlt; /**< gps altitude measurement noise */
|
||||
control::BlockParam<float> _rAccel; /**< accelerometer measurement noise */
|
||||
control::BlockParam<float> _magDip; /**< magnetic inclination with level */
|
||||
control::BlockParam<float> _magDec; /**< magnetic declination, clockwise rotation */
|
||||
control::BlockParam<float> _g; /**< gravitational constant */
|
||||
control::BlockParam<float> _faultPos; /**< fault detection threshold for position */
|
||||
control::BlockParam<float> _faultAtt; /**< fault detection threshold for attitude */
|
||||
// status
|
||||
bool _attitudeInitialized;
|
||||
bool _positionInitialized;
|
||||
uint16_t _attitudeInitCounter;
|
||||
// accessors
|
||||
int32_t getLatDegE7() { return int32_t(lat * 1.0e7 * M_RAD_TO_DEG); }
|
||||
void setLatDegE7(int32_t val) { lat = val / 1.0e7 / M_RAD_TO_DEG; }
|
||||
int32_t getLonDegE7() { return int32_t(lon * 1.0e7 * M_RAD_TO_DEG); }
|
||||
|
|
|
@ -1,10 +1,16 @@
|
|||
#include <systemlib/param/param.h>
|
||||
|
||||
/*PARAM_DEFINE_FLOAT(NAME,0.0f);*/
|
||||
PARAM_DEFINE_FLOAT(KF_V_GYRO, 0.01f);
|
||||
PARAM_DEFINE_FLOAT(KF_V_ACCEL, 0.01f);
|
||||
PARAM_DEFINE_FLOAT(KF_R_MAG, 0.01f);
|
||||
PARAM_DEFINE_FLOAT(KF_R_GPS_V, 0.1f);
|
||||
PARAM_DEFINE_FLOAT(KF_R_GPS_GEO, 1.0e-7f);
|
||||
PARAM_DEFINE_FLOAT(KF_R_GPS_ALT, 10.0f);
|
||||
PARAM_DEFINE_FLOAT(KF_R_ACCEL, 0.01f);
|
||||
PARAM_DEFINE_FLOAT(KF_V_GYRO, 1.0f);
|
||||
PARAM_DEFINE_FLOAT(KF_V_ACCEL, 1.0f);
|
||||
PARAM_DEFINE_FLOAT(KF_R_MAG, 1.0f);
|
||||
PARAM_DEFINE_FLOAT(KF_R_GPS_VEL, 1.0f);
|
||||
PARAM_DEFINE_FLOAT(KF_R_GPS_POS, 5.0f);
|
||||
PARAM_DEFINE_FLOAT(KF_R_GPS_ALT, 5.0f);
|
||||
PARAM_DEFINE_FLOAT(KF_R_ACCEL, 1.0f);
|
||||
PARAM_DEFINE_FLOAT(KF_FAULT_POS, 10.0f);
|
||||
PARAM_DEFINE_FLOAT(KF_FAULT_ATT, 10.0f);
|
||||
PARAM_DEFINE_FLOAT(KF_ENV_G, 9.765f);
|
||||
PARAM_DEFINE_FLOAT(KF_ENV_MAG_DIP, 60.0f);
|
||||
PARAM_DEFINE_FLOAT(KF_ENV_MAG_DEC, 0.0f);
|
||||
|
||||
|
|
|
@ -1,7 +1,7 @@
|
|||
############################################################################
|
||||
# apps/examples/mm/Makefile
|
||||
#
|
||||
# Copyright (C) 2011 Gregory Nutt. All rights reserved.
|
||||
# Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
|
||||
# Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
|
@ -48,10 +48,14 @@ COBJS = $(CSRCS:.c=$(OBJEXT))
|
|||
SRCS = $(ASRCS) $(CSRCS)
|
||||
OBJS = $(AOBJS) $(COBJS)
|
||||
|
||||
ifeq ($(WINTOOL),y)
|
||||
BIN = "${shell cygpath -w $(APPDIR)/libapps$(LIBEXT)}"
|
||||
ifeq ($(CONFIG_WINDOWS_NATIVE),y)
|
||||
BIN = ..\..\libapps$(LIBEXT)
|
||||
else
|
||||
BIN = "$(APPDIR)/libapps$(LIBEXT)"
|
||||
ifeq ($(WINTOOL),y)
|
||||
BIN = ..\\..\\libapps$(LIBEXT)
|
||||
else
|
||||
BIN = ../../libapps$(LIBEXT)
|
||||
endif
|
||||
endif
|
||||
|
||||
ROOTDEPPATH = --dep-path .
|
||||
|
@ -70,24 +74,23 @@ $(COBJS): %$(OBJEXT): %.c
|
|||
$(call COMPILE, $<, $@)
|
||||
|
||||
.built: $(OBJS)
|
||||
@( for obj in $(OBJS) ; do \
|
||||
$(call ARCHIVE, $(BIN), $${obj}); \
|
||||
done ; )
|
||||
$(call ARCHIVE, $(BIN), $(OBJS))
|
||||
@touch .built
|
||||
|
||||
context:
|
||||
|
||||
.depend: Makefile $(SRCS)
|
||||
@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
@touch $@
|
||||
|
||||
depend: .depend
|
||||
|
||||
clean:
|
||||
@rm -f *.o *~ .*.swp .built
|
||||
$(call DELFILE, .built)
|
||||
$(call CLEAN)
|
||||
|
||||
distclean: clean
|
||||
@rm -f Make.dep .depend
|
||||
$(call DELFILE, Make.dep)
|
||||
$(call DELFILE, .depend)
|
||||
|
||||
-include Make.dep
|
||||
|
|
|
@ -1,7 +1,7 @@
|
|||
############################################################################
|
||||
# apps/Makefile
|
||||
#
|
||||
# Copyright (C) 2007-2008, 2010-2010 Gregory Nutt. All rights reserved.
|
||||
# Copyright (C) 2007-2008, 2010-2010, 2012 Gregory Nutt. All rights reserved.
|
||||
# Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
|
@ -48,10 +48,14 @@ COBJS = $(CSRCS:.c=$(OBJEXT))
|
|||
SRCS = $(ASRCS) $(CSRCS)
|
||||
OBJS = $(AOBJS) $(COBJS)
|
||||
|
||||
ifeq ($(WINTOOL),y)
|
||||
BIN = "${shell cygpath -w $(APPDIR)/libapps$(LIBEXT)}"
|
||||
ifeq ($(CONFIG_WINDOWS_NATIVE),y)
|
||||
BIN = ..\..\libapps$(LIBEXT)
|
||||
else
|
||||
BIN = "$(APPDIR)/libapps$(LIBEXT)"
|
||||
ifeq ($(WINTOOL),y)
|
||||
BIN = ..\\..\\libapps$(LIBEXT)
|
||||
else
|
||||
BIN = ../../libapps$(LIBEXT)
|
||||
endif
|
||||
endif
|
||||
|
||||
ROOTDEPPATH = --dep-path .
|
||||
|
@ -70,24 +74,23 @@ $(COBJS): %$(OBJEXT): %.c
|
|||
$(call COMPILE, $<, $@)
|
||||
|
||||
.built: $(OBJS)
|
||||
@( for obj in $(OBJS) ; do \
|
||||
$(call ARCHIVE, $(BIN), $${obj}); \
|
||||
done ; )
|
||||
$(call ARCHIVE, $(BIN), $(OBJS))
|
||||
@touch .built
|
||||
|
||||
context:
|
||||
|
||||
.depend: Makefile $(SRCS)
|
||||
@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
@touch $@
|
||||
|
||||
depend: .depend
|
||||
|
||||
clean:
|
||||
@rm -f *.o *~ .*.swp .built
|
||||
$(call DELFILE, .built)
|
||||
$(call CLEAN)
|
||||
|
||||
distclean: clean
|
||||
@rm -f Make.dep .depend
|
||||
$(call DELFILE, Make.dep)
|
||||
$(call DELFILE, .depend)
|
||||
|
||||
-include Make.dep
|
||||
|
|
|
@ -1,7 +1,7 @@
|
|||
############################################################################
|
||||
# apps/examples/nsh/Makefile
|
||||
#
|
||||
# Copyright (C) 2007-2008, 2010-2011 Gregory Nutt. All rights reserved.
|
||||
# Copyright (C) 2007-2008, 2010-2012 Gregory Nutt. All rights reserved.
|
||||
# Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
|
@ -48,10 +48,14 @@ COBJS = $(CSRCS:.c=$(OBJEXT))
|
|||
SRCS = $(ASRCS) $(CSRCS)
|
||||
OBJS = $(AOBJS) $(COBJS)
|
||||
|
||||
ifeq ($(WINTOOL),y)
|
||||
BIN = "${shell cygpath -w $(APPDIR)/libapps$(LIBEXT)}"
|
||||
ifeq ($(CONFIG_WINDOWS_NATIVE),y)
|
||||
BIN = ..\..\libapps$(LIBEXT)
|
||||
else
|
||||
BIN = "$(APPDIR)/libapps$(LIBEXT)"
|
||||
ifeq ($(WINTOOL),y)
|
||||
BIN = ..\\..\\libapps$(LIBEXT)
|
||||
else
|
||||
BIN = ../../libapps$(LIBEXT)
|
||||
endif
|
||||
endif
|
||||
|
||||
ROOTDEPPATH = --dep-path .
|
||||
|
@ -70,24 +74,23 @@ $(COBJS): %$(OBJEXT): %.c
|
|||
$(call COMPILE, $<, $@)
|
||||
|
||||
.built: $(OBJS)
|
||||
@( for obj in $(OBJS) ; do \
|
||||
$(call ARCHIVE, $(BIN), $${obj}); \
|
||||
done ; )
|
||||
$(call ARCHIVE, $(BIN), $(OBJS))
|
||||
@touch .built
|
||||
|
||||
context:
|
||||
|
||||
.depend: Makefile $(SRCS)
|
||||
@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
@touch $@
|
||||
|
||||
depend: .depend
|
||||
|
||||
clean:
|
||||
@rm -f *.o *~ .*.swp .built
|
||||
$(call DELFILE, .built)
|
||||
$(call CLEAN)
|
||||
|
||||
distclean: clean
|
||||
@rm -f Make.dep .depend
|
||||
$(call DELFILE, Make.dep)
|
||||
$(call DELFILE, .depend)
|
||||
|
||||
-include Make.dep
|
||||
|
|
|
@ -1,7 +1,7 @@
|
|||
############################################################################
|
||||
# examples/null/Makefile
|
||||
#
|
||||
# Copyright (C) 2007-2008, 2010-2011 Gregory Nutt. All rights reserved.
|
||||
# Copyright (C) 2007-2008, 2010-2012 Gregory Nutt. All rights reserved.
|
||||
# Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
|
@ -48,10 +48,14 @@ COBJS = $(CSRCS:.c=$(OBJEXT))
|
|||
SRCS = $(ASRCS) $(CSRCS)
|
||||
OBJS = $(AOBJS) $(COBJS)
|
||||
|
||||
ifeq ($(WINTOOL),y)
|
||||
BIN = "${shell cygpath -w $(APPDIR)/libapps$(LIBEXT)}"
|
||||
ifeq ($(CONFIG_WINDOWS_NATIVE),y)
|
||||
BIN = ..\..\libapps$(LIBEXT)
|
||||
else
|
||||
BIN = "$(APPDIR)/libapps$(LIBEXT)"
|
||||
ifeq ($(WINTOOL),y)
|
||||
BIN = ..\\..\\libapps$(LIBEXT)
|
||||
else
|
||||
BIN = ../../libapps$(LIBEXT)
|
||||
endif
|
||||
endif
|
||||
|
||||
ROOTDEPPATH = --dep-path .
|
||||
|
@ -70,24 +74,23 @@ $(COBJS): %$(OBJEXT): %.c
|
|||
$(call COMPILE, $<, $@)
|
||||
|
||||
.built: $(OBJS)
|
||||
@( for obj in $(OBJS) ; do \
|
||||
$(call ARCHIVE, $(BIN), $${obj}); \
|
||||
done ; )
|
||||
$(call ARCHIVE, $(BIN), $(OBJS))
|
||||
@touch .built
|
||||
|
||||
context:
|
||||
|
||||
.depend: Makefile $(SRCS)
|
||||
@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
@touch $@
|
||||
|
||||
depend: .depend
|
||||
|
||||
clean:
|
||||
@rm -f *.o *~ .*.swp .built
|
||||
$(call DELFILE, .built)
|
||||
$(call CLEAN)
|
||||
|
||||
distclean: clean
|
||||
@rm -f Make.dep .depend
|
||||
$(call DELFILE, Make.dep)
|
||||
$(call DELFILE, .depend)
|
||||
|
||||
-include Make.dep
|
||||
|
|
|
@ -39,4 +39,31 @@ config EXAMPLES_OSTEST_NBARRIER_THREADS
|
|||
is 8 but a smaller number may be needed on systems without sufficient memory
|
||||
to start so many threads.
|
||||
|
||||
config EXAMPLES_OSTEST_RR_RANGE
|
||||
int "Round-robin test - end of search range"
|
||||
default 10000
|
||||
range 1 32767
|
||||
---help---
|
||||
During round-robin scheduling test two threads are created. Each of the threads
|
||||
searches for prime numbers in the configurable range, doing that configurable
|
||||
number of times.
|
||||
|
||||
This value specifies the end of search range and together with number of runs
|
||||
allows to configure the length of this test - it should last at least a few
|
||||
tens of seconds. Allowed values [1; 32767], default 10000
|
||||
|
||||
config EXAMPLES_OSTEST_RR_RUNS
|
||||
int "Round-robin test - number of runs"
|
||||
default 10
|
||||
range 1 32767
|
||||
---help---
|
||||
During round-robin scheduling test two threads are created. Each of the threads
|
||||
searches for prime numbers in the configurable range, doing that configurable
|
||||
number of times.
|
||||
|
||||
This value specifies the number of times the thread searches the range for
|
||||
prime numbers and together with end of search range allows to configure the
|
||||
length of this test - it should last at least a few tens of seconds. Allowed
|
||||
values [1; 32767], default 10
|
||||
|
||||
endif
|
||||
|
|
|
@ -98,10 +98,14 @@ COBJS = $(CSRCS:.c=$(OBJEXT))
|
|||
SRCS = $(ASRCS) $(CSRCS)
|
||||
OBJS = $(AOBJS) $(COBJS)
|
||||
|
||||
ifeq ($(WINTOOL),y)
|
||||
BIN = "${shell cygpath -w $(APPDIR)/libapps$(LIBEXT)}"
|
||||
ifeq ($(CONFIG_WINDOWS_NATIVE),y)
|
||||
BIN = ..\..\libapps$(LIBEXT)
|
||||
else
|
||||
BIN = "$(APPDIR)/libapps$(LIBEXT)"
|
||||
ifeq ($(WINTOOL),y)
|
||||
BIN = ..\\..\\libapps$(LIBEXT)
|
||||
else
|
||||
BIN = ../../libapps$(LIBEXT)
|
||||
endif
|
||||
endif
|
||||
|
||||
ROOTDEPPATH = --dep-path .
|
||||
|
@ -120,9 +124,7 @@ $(COBJS): %$(OBJEXT): %.c
|
|||
$(call COMPILE, $<, $@)
|
||||
|
||||
.built: $(OBJS)
|
||||
@( for obj in $(OBJS) ; do \
|
||||
$(call ARCHIVE, $(BIN), $${obj}); \
|
||||
done ; )
|
||||
$(call ARCHIVE, $(BIN), $(OBJS))
|
||||
@touch .built
|
||||
|
||||
.context:
|
||||
|
@ -134,16 +136,17 @@ endif
|
|||
context: .context
|
||||
|
||||
.depend: Makefile $(SRCS)
|
||||
@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
@touch $@
|
||||
|
||||
depend: .depend
|
||||
|
||||
clean:
|
||||
@rm -f *.o *~ .*.swp .built
|
||||
$(call DELFILE, .built)
|
||||
$(call CLEAN)
|
||||
|
||||
distclean: clean
|
||||
@rm -f Make.dep .depend
|
||||
$(call DELFILE, Make.dep)
|
||||
$(call DELFILE, .depend)
|
||||
|
||||
-include Make.dep
|
||||
|
|
|
@ -1,7 +1,7 @@
|
|||
/********************************************************************************
|
||||
* examples/ostest/roundrobin.c
|
||||
*
|
||||
* Copyright (C) 2007, 2008 Gregory Nutt. All rights reserved.
|
||||
* Copyright (C) 2007, 2008, 2012 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
|
@ -39,6 +39,7 @@
|
|||
|
||||
#include <nuttx/config.h>
|
||||
#include <stdio.h>
|
||||
#include <stdbool.h>
|
||||
#include "ostest.h"
|
||||
|
||||
#if CONFIG_RR_INTERVAL > 0
|
||||
|
@ -47,115 +48,87 @@
|
|||
* Definitions
|
||||
********************************************************************************/
|
||||
|
||||
/* This number may need to be tuned for different processor speeds. Since these
|
||||
* arrays must be large to very correct SCHED_RR behavior, this test may require
|
||||
* too much memory on many targets.
|
||||
*/
|
||||
/* This numbers should be tuned for different processor speeds via .config file.
|
||||
* With default values the test takes about 30s on Cortex-M3 @ 24MHz. With 32767
|
||||
* range and 10 runs it takes ~320s. */
|
||||
|
||||
/* #define CONFIG_NINTEGERS 32768 Takes forever on 60Mhz ARM7 */
|
||||
#ifndef CONFIG_EXAMPLES_OSTEST_RR_RANGE
|
||||
# define CONFIG_EXAMPLES_OSTEST_RR_RANGE 10000
|
||||
# warning "CONFIG_EXAMPLES_OSTEST_RR_RANGE undefined, using default value = 10000"
|
||||
#elif (CONFIG_EXAMPLES_OSTEST_RR_RANGE < 1) || (CONFIG_EXAMPLES_OSTEST_RR_RANGE > 32767)
|
||||
# define CONFIG_EXAMPLES_OSTEST_RR_RANGE 10000
|
||||
# warning "Invalid value of CONFIG_EXAMPLES_OSTEST_RR_RANGE, using default value = 10000"
|
||||
#endif
|
||||
|
||||
#define CONFIG_NINTEGERS 2048
|
||||
|
||||
/********************************************************************************
|
||||
* Private Data
|
||||
********************************************************************************/
|
||||
|
||||
static int prime1[CONFIG_NINTEGERS];
|
||||
static int prime2[CONFIG_NINTEGERS];
|
||||
#ifndef CONFIG_EXAMPLES_OSTEST_RR_RUNS
|
||||
# define CONFIG_EXAMPLES_OSTEST_RR_RUNS 10
|
||||
# warning "CONFIG_EXAMPLES_OSTEST_RR_RUNS undefined, using default value = 10"
|
||||
#elif (CONFIG_EXAMPLES_OSTEST_RR_RUNS < 1) || (CONFIG_EXAMPLES_OSTEST_RR_RUNS > 32767)
|
||||
# define CONFIG_EXAMPLES_OSTEST_RR_RUNS 10
|
||||
# warning "Invalid value of CONFIG_EXAMPLES_OSTEST_RR_RUNS, using default value = 10"
|
||||
#endif
|
||||
|
||||
/********************************************************************************
|
||||
* Private Functions
|
||||
********************************************************************************/
|
||||
|
||||
/********************************************************************************
|
||||
* Name: dosieve
|
||||
* Name: get_primes
|
||||
*
|
||||
* Description
|
||||
* This implements a "sieve of aristophanes" algorithm for finding prime number.
|
||||
* Credit for this belongs to someone, but I am not sure who anymore. Anyway,
|
||||
* the only purpose here is that we need some algorithm that takes a long period
|
||||
* of time to execute.
|
||||
*
|
||||
* This function searches for prime numbers in the most primitive way possible.
|
||||
********************************************************************************/
|
||||
|
||||
static void dosieve(int *prime)
|
||||
static void get_primes(int *count, int *last)
|
||||
{
|
||||
int a,d;
|
||||
int i;
|
||||
int j;
|
||||
int number;
|
||||
int local_count = 0;
|
||||
*last = 0; // to make compiler happy
|
||||
|
||||
a = 2;
|
||||
d = a;
|
||||
for (number = 1; number < CONFIG_EXAMPLES_OSTEST_RR_RANGE; number++)
|
||||
{
|
||||
int div;
|
||||
bool is_prime = true;
|
||||
|
||||
for (i = 0; i < CONFIG_NINTEGERS; i++)
|
||||
for (div = 2; div <= number / 2; div++)
|
||||
if (number % div == 0)
|
||||
{
|
||||
is_prime = false;
|
||||
break;
|
||||
}
|
||||
|
||||
if (is_prime)
|
||||
{
|
||||
prime[i] = i+2;
|
||||
}
|
||||
|
||||
for (i = 1; i < 10; i++)
|
||||
{
|
||||
for (j = 0; j < CONFIG_NINTEGERS; j++)
|
||||
{
|
||||
d = a + d;
|
||||
if (d < CONFIG_NINTEGERS)
|
||||
{
|
||||
prime[d]=0;
|
||||
}
|
||||
}
|
||||
a++;
|
||||
d = a;
|
||||
i++;
|
||||
}
|
||||
|
||||
local_count++;
|
||||
*last = number;
|
||||
#if 0 /* We don't really care what the numbers are */
|
||||
for (i = 0, j= 0; i < CONFIG_NINTEGERS; i++)
|
||||
{
|
||||
if (prime[i] != 0)
|
||||
{
|
||||
printf(" Prime %d: %d\n", j, prime[i]);
|
||||
j++;
|
||||
}
|
||||
}
|
||||
printf(" Prime %d: %d\n", local_count, number);
|
||||
#endif
|
||||
}
|
||||
}
|
||||
|
||||
*count = local_count;
|
||||
}
|
||||
|
||||
/********************************************************************************
|
||||
* Name: sieve1
|
||||
* Name: get_primes_thread
|
||||
********************************************************************************/
|
||||
|
||||
static void *sieve1(void *parameter)
|
||||
static void *get_primes_thread(void *parameter)
|
||||
{
|
||||
int i;
|
||||
int id = (int)parameter;
|
||||
int i, count, last;
|
||||
|
||||
printf("sieve1 started\n");
|
||||
printf("get_primes_thread id=%d started, looking for primes < %d, doing %d run(s)\n",
|
||||
id, CONFIG_EXAMPLES_OSTEST_RR_RANGE, CONFIG_EXAMPLES_OSTEST_RR_RUNS);
|
||||
|
||||
for (i = 0; i < 1000; i++)
|
||||
for (i = 0; i < CONFIG_EXAMPLES_OSTEST_RR_RUNS; i++)
|
||||
{
|
||||
dosieve(prime1);
|
||||
get_primes(&count, &last);
|
||||
}
|
||||
|
||||
printf("sieve1 finished\n");
|
||||
|
||||
pthread_exit(NULL);
|
||||
return NULL; /* To keep some compilers happy */
|
||||
}
|
||||
|
||||
/********************************************************************************
|
||||
* Name: sieve2
|
||||
********************************************************************************/
|
||||
|
||||
static void *sieve2(void *parameter)
|
||||
{
|
||||
int i;
|
||||
|
||||
printf("sieve2 started\n");
|
||||
|
||||
for (i = 0; i < 1000; i++)
|
||||
{
|
||||
dosieve(prime2);
|
||||
}
|
||||
|
||||
printf("sieve2 finished\n");
|
||||
printf("get_primes_thread id=%d finished, found %d primes, last one was %d\n",
|
||||
id, count, last);
|
||||
|
||||
pthread_exit(NULL);
|
||||
return NULL; /* To keep some compilers happy */
|
||||
|
@ -171,14 +144,13 @@ static void *sieve2(void *parameter)
|
|||
|
||||
void rr_test(void)
|
||||
{
|
||||
pthread_t sieve1_thread;
|
||||
pthread_t sieve2_thread;
|
||||
pthread_t get_primes1_thread;
|
||||
pthread_t get_primes2_thread;
|
||||
struct sched_param sparam;
|
||||
pthread_attr_t attr;
|
||||
pthread_addr_t result;
|
||||
int status;
|
||||
|
||||
printf("rr_test: Starting sieve1 thread \n");
|
||||
status = pthread_attr_init(&attr);
|
||||
if (status != OK)
|
||||
{
|
||||
|
@ -203,29 +175,31 @@ void rr_test(void)
|
|||
}
|
||||
else
|
||||
{
|
||||
printf("rr_test: Set thread policty to SCHED_RR\n");
|
||||
printf("rr_test: Set thread policy to SCHED_RR\n");
|
||||
}
|
||||
|
||||
status = pthread_create(&sieve1_thread, &attr, sieve1, NULL);
|
||||
printf("rr_test: Starting first get_primes_thread\n");
|
||||
|
||||
status = pthread_create(&get_primes1_thread, &attr, get_primes_thread, (void*)1);
|
||||
if (status != 0)
|
||||
{
|
||||
printf("rr_test: Error in thread 1 creation, status=%d\n", status);
|
||||
}
|
||||
|
||||
printf("rr_test: Starting sieve1 thread \n");
|
||||
printf("rr_test: Starting second get_primes_thread\n");
|
||||
|
||||
status = pthread_create(&sieve2_thread, &attr, sieve2, NULL);
|
||||
status = pthread_create(&get_primes2_thread, &attr, get_primes_thread, (void*)2);
|
||||
if (status != 0)
|
||||
{
|
||||
printf("rr_test: Error in thread 2 creation, status=%d\n", status);
|
||||
}
|
||||
|
||||
printf("rr_test: Waiting for sieves to complete -- this should take awhile\n");
|
||||
printf("rr_test: Waiting for threads to complete -- this should take awhile\n");
|
||||
printf("rr_test: If RR scheduling is working, they should start and complete at\n");
|
||||
printf("rr_test: about the same time\n");
|
||||
|
||||
pthread_join(sieve2_thread, &result);
|
||||
pthread_join(sieve1_thread, &result);
|
||||
pthread_join(get_primes2_thread, &result);
|
||||
pthread_join(get_primes1_thread, &result);
|
||||
printf("rr_test: Done\n");
|
||||
}
|
||||
|
||||
|
|
|
@ -1,7 +1,7 @@
|
|||
############################################################################
|
||||
# apps/examples/pipe/Makefile
|
||||
#
|
||||
# Copyright (C) 2008, 2010-2011 Gregory Nutt. All rights reserved.
|
||||
# Copyright (C) 2008, 2010-2012 Gregory Nutt. All rights reserved.
|
||||
# Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
|
@ -48,10 +48,14 @@ COBJS = $(CSRCS:.c=$(OBJEXT))
|
|||
SRCS = $(ASRCS) $(CSRCS)
|
||||
OBJS = $(AOBJS) $(COBJS)
|
||||
|
||||
ifeq ($(WINTOOL),y)
|
||||
BIN = "${shell cygpath -w $(APPDIR)/libapps$(LIBEXT)}"
|
||||
ifeq ($(CONFIG_WINDOWS_NATIVE),y)
|
||||
BIN = ..\..\libapps$(LIBEXT)
|
||||
else
|
||||
BIN = "$(APPDIR)/libapps$(LIBEXT)"
|
||||
ifeq ($(WINTOOL),y)
|
||||
BIN = ..\\..\\libapps$(LIBEXT)
|
||||
else
|
||||
BIN = ../../libapps$(LIBEXT)
|
||||
endif
|
||||
endif
|
||||
|
||||
ROOTDEPPATH = --dep-path .
|
||||
|
@ -70,24 +74,23 @@ $(COBJS): %$(OBJEXT): %.c
|
|||
$(call COMPILE, $<, $@)
|
||||
|
||||
.built: $(OBJS)
|
||||
@( for obj in $(OBJS) ; do \
|
||||
$(call ARCHIVE, $(BIN), $${obj}); \
|
||||
done ; )
|
||||
$(call ARCHIVE, $(BIN), $(OBJS))
|
||||
@touch .built
|
||||
|
||||
context:
|
||||
|
||||
.depend: Makefile $(SRCS)
|
||||
@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
@touch $@
|
||||
|
||||
depend: .depend
|
||||
|
||||
clean:
|
||||
@rm -f *.o *~ .*.swp .built
|
||||
$(call DELFILE, .built)
|
||||
$(call CLEAN)
|
||||
|
||||
distclean: clean
|
||||
@rm -f Make.dep .depend
|
||||
$(call DELFILE, Make.dep)
|
||||
$(call DELFILE, .depend)
|
||||
|
||||
-include Make.dep
|
||||
|
|
|
@ -1,7 +1,7 @@
|
|||
############################################################################
|
||||
# apps/examples/poll/Makefile
|
||||
#
|
||||
# Copyright (C) 2008, 2010-2011 Gregory Nutt. All rights reserved.
|
||||
# Copyright (C) 2008, 2010-2012 Gregory Nutt. All rights reserved.
|
||||
# Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
|
@ -48,10 +48,14 @@ COBJS = $(CSRCS:.c=$(OBJEXT))
|
|||
SRCS = $(ASRCS) $(CSRCS)
|
||||
OBJS = $(AOBJS) $(COBJS)
|
||||
|
||||
ifeq ($(WINTOOL),y)
|
||||
BIN = "${shell cygpath -w $(APPDIR)/libapps$(LIBEXT)}"
|
||||
ifeq ($(CONFIG_WINDOWS_NATIVE),y)
|
||||
BIN = ..\..\libapps$(LIBEXT)
|
||||
else
|
||||
BIN = "$(APPDIR)/libapps$(LIBEXT)"
|
||||
ifeq ($(WINTOOL),y)
|
||||
BIN = ..\\..\\libapps$(LIBEXT)
|
||||
else
|
||||
BIN = ../../libapps$(LIBEXT)
|
||||
endif
|
||||
endif
|
||||
|
||||
ROOTDEPPATH = --dep-path .
|
||||
|
@ -70,25 +74,25 @@ $(COBJS): %$(OBJEXT): %.c
|
|||
$(call COMPILE, $<, $@)
|
||||
|
||||
.built: $(OBJS)
|
||||
@( for obj in $(OBJS) ; do \
|
||||
$(call ARCHIVE, $(BIN), $${obj}); \
|
||||
done ; )
|
||||
$(call ARCHIVE, $(BIN), $(OBJS))
|
||||
@touch .built
|
||||
|
||||
context:
|
||||
|
||||
.depend: Makefile $(SRCS)
|
||||
@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
@touch $@
|
||||
|
||||
# Register application
|
||||
depend: .depend
|
||||
|
||||
clean:
|
||||
@rm -f *.o *~ .*.swp .built
|
||||
$(call DELFILE, .built)
|
||||
$(call CLEAN)
|
||||
|
||||
distclean: clean
|
||||
@rm -f Make.dep .depend host
|
||||
$(call DELFILE, Make.dep)
|
||||
$(call DELFILE, .depend)
|
||||
$(call DELFILE, host$(HOSTEXEEXT))
|
||||
|
||||
-include Make.dep
|
||||
|
|
|
@ -1,7 +1,7 @@
|
|||
############################################################################
|
||||
# apps/examples/pwm/Makefile
|
||||
#
|
||||
# Copyright (C) 2011 Gregory Nutt. All rights reserved.
|
||||
# Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
|
||||
# Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
|
@ -48,10 +48,14 @@ COBJS = $(CSRCS:.c=$(OBJEXT))
|
|||
SRCS = $(ASRCS) $(CSRCS)
|
||||
OBJS = $(AOBJS) $(COBJS)
|
||||
|
||||
ifeq ($(WINTOOL),y)
|
||||
BIN = "${shell cygpath -w $(APPDIR)/libapps$(LIBEXT)}"
|
||||
ifeq ($(CONFIG_WINDOWS_NATIVE),y)
|
||||
BIN = ..\..\libapps$(LIBEXT)
|
||||
else
|
||||
BIN = "$(APPDIR)/libapps$(LIBEXT)"
|
||||
ifeq ($(WINTOOL),y)
|
||||
BIN = ..\\..\\libapps$(LIBEXT)
|
||||
else
|
||||
BIN = ../../libapps$(LIBEXT)
|
||||
endif
|
||||
endif
|
||||
|
||||
ROOTDEPPATH = --dep-path .
|
||||
|
@ -76,9 +80,7 @@ $(COBJS): %$(OBJEXT): %.c
|
|||
$(call COMPILE, $<, $@)
|
||||
|
||||
.built: $(OBJS)
|
||||
@( for obj in $(OBJS) ; do \
|
||||
$(call ARCHIVE, $(BIN), $${obj}); \
|
||||
done ; )
|
||||
$(call ARCHIVE, $(BIN), $(OBJS))
|
||||
@touch .built
|
||||
|
||||
.context:
|
||||
|
@ -88,16 +90,17 @@ $(COBJS): %$(OBJEXT): %.c
|
|||
context: .context
|
||||
|
||||
.depend: Makefile $(SRCS)
|
||||
@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
@touch $@
|
||||
|
||||
depend: .depend
|
||||
|
||||
clean:
|
||||
@rm -f *.o *~ .*.swp .built
|
||||
$(call DELFILE, .built)
|
||||
$(call CLEAN)
|
||||
|
||||
distclean: clean
|
||||
@rm -f Make.dep .depend
|
||||
$(call DELFILE, Make.dep)
|
||||
$(call DELFILE, .depend)
|
||||
|
||||
-include Make.dep
|
||||
|
|
|
@ -48,6 +48,7 @@
|
|||
#include <fcntl.h>
|
||||
#include <errno.h>
|
||||
#include <debug.h>
|
||||
#include <string.h>
|
||||
|
||||
#include <nuttx/pwm.h>
|
||||
|
||||
|
|
|
@ -48,10 +48,14 @@ COBJS = $(CSRCS:.c=$(OBJEXT))
|
|||
SRCS = $(ASRCS) $(CSRCS)
|
||||
OBJS = $(AOBJS) $(COBJS)
|
||||
|
||||
ifeq ($(WINTOOL),y)
|
||||
BIN = "${shell cygpath -w $(APPDIR)/libapps$(LIBEXT)}"
|
||||
ifeq ($(CONFIG_WINDOWS_NATIVE),y)
|
||||
BIN = ..\..\libapps$(LIBEXT)
|
||||
else
|
||||
BIN = "$(APPDIR)/libapps$(LIBEXT)"
|
||||
ifeq ($(WINTOOL),y)
|
||||
BIN = ..\\..\\libapps$(LIBEXT)
|
||||
else
|
||||
BIN = ../../libapps$(LIBEXT)
|
||||
endif
|
||||
endif
|
||||
|
||||
ROOTDEPPATH = --dep-path .
|
||||
|
@ -76,9 +80,7 @@ $(COBJS): %$(OBJEXT): %.c
|
|||
$(call COMPILE, $<, $@)
|
||||
|
||||
.built: $(OBJS)
|
||||
@( for obj in $(OBJS) ; do \
|
||||
$(call ARCHIVE, $(BIN), $${obj}); \
|
||||
done ; )
|
||||
$(call ARCHIVE, $(BIN), $(OBJS))
|
||||
@touch .built
|
||||
|
||||
.context:
|
||||
|
@ -90,16 +92,17 @@ endif
|
|||
context: .context
|
||||
|
||||
.depend: Makefile $(SRCS)
|
||||
@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
@touch $@
|
||||
|
||||
depend: .depend
|
||||
|
||||
clean:
|
||||
@rm -f *.o *~ .*.swp .built
|
||||
$(call DELFILE, .built)
|
||||
$(call CLEAN)
|
||||
|
||||
distclean: clean
|
||||
@rm -f Make.dep .depend
|
||||
$(call DELFILE, Make.dep)
|
||||
$(call DELFILE, .depend)
|
||||
|
||||
-include Make.dep
|
||||
|
|
|
@ -1,7 +1,7 @@
|
|||
############################################################################
|
||||
# apps/examples/romfs/Makefile
|
||||
#
|
||||
# Copyright (C) 2008, 2010-2011 Gregory Nutt. All rights reserved.
|
||||
# Copyright (C) 2008, 2010-2012 Gregory Nutt. All rights reserved.
|
||||
# Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
|
@ -48,10 +48,14 @@ COBJS = $(CSRCS:.c=$(OBJEXT))
|
|||
SRCS = $(ASRCS) $(CSRCS)
|
||||
OBJS = $(AOBJS) $(COBJS)
|
||||
|
||||
ifeq ($(WINTOOL),y)
|
||||
BIN = "${shell cygpath -w $(APPDIR)/libapps$(LIBEXT)}"
|
||||
ifeq ($(CONFIG_WINDOWS_NATIVE),y)
|
||||
BIN = ..\..\libapps$(LIBEXT)
|
||||
else
|
||||
BIN = "$(APPDIR)/libapps$(LIBEXT)"
|
||||
ifeq ($(WINTOOL),y)
|
||||
BIN = ..\\..\\libapps$(LIBEXT)
|
||||
else
|
||||
BIN = ../../libapps$(LIBEXT)
|
||||
endif
|
||||
endif
|
||||
|
||||
ROOTDEPPATH = --dep-path .
|
||||
|
@ -61,7 +65,7 @@ ROOTDEPPATH = --dep-path .
|
|||
VPATH =
|
||||
|
||||
all: .built
|
||||
.PHONY: checkgenromfs clean depend disclean
|
||||
.PHONY: checkgenromfs clean depend distclean
|
||||
|
||||
$(AOBJS): %$(OBJEXT): %.S
|
||||
$(call ASSEMBLE, $<, $@)
|
||||
|
@ -86,26 +90,26 @@ romfs_testdir.h : testdir.img
|
|||
@xxd -i $< >$@ || { echo "xxd of $< failed" ; exit 1 ; }
|
||||
|
||||
.built: romfs_testdir.h $(OBJS)
|
||||
@( for obj in $(OBJS) ; do \
|
||||
$(call ARCHIVE, $(BIN), $${obj}); \
|
||||
done ; )
|
||||
$(call ARCHIVE, $(BIN), $(OBJS))
|
||||
@touch .built
|
||||
|
||||
context:
|
||||
|
||||
.depend: Makefile $(SRCS)
|
||||
@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
@touch $@
|
||||
|
||||
# Register application
|
||||
depend: .depend
|
||||
|
||||
clean:
|
||||
@rm -f *.o *~ .*.swp .built
|
||||
$(call DELFILE, .built)
|
||||
$(call CLEAN)
|
||||
|
||||
distclean: clean
|
||||
@rm -f Make.dep .depend testdir.img
|
||||
$(call DELFILE, Make.dep)
|
||||
$(call DELFILE, .depend)
|
||||
$(call DELFILE, testdir.img)
|
||||
|
||||
-include Make.dep
|
||||
|
||||
|
|
|
@ -1,7 +1,7 @@
|
|||
############################################################################
|
||||
# apps/examples/serloop/Makefile
|
||||
#
|
||||
# Copyright (C) 2008, 2010-2011 Gregory Nutt. All rights reserved.
|
||||
# Copyright (C) 2008, 2010-2012 Gregory Nutt. All rights reserved.
|
||||
# Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
|
@ -48,10 +48,14 @@ COBJS = $(CSRCS:.c=$(OBJEXT))
|
|||
SRCS = $(ASRCS) $(CSRCS)
|
||||
OBJS = $(AOBJS) $(COBJS)
|
||||
|
||||
ifeq ($(WINTOOL),y)
|
||||
BIN = "${shell cygpath -w $(APPDIR)/libapps$(LIBEXT)}"
|
||||
ifeq ($(CONFIG_WINDOWS_NATIVE),y)
|
||||
BIN = ..\..\libapps$(LIBEXT)
|
||||
else
|
||||
BIN = "$(APPDIR)/libapps$(LIBEXT)"
|
||||
ifeq ($(WINTOOL),y)
|
||||
BIN = ..\\..\\libapps$(LIBEXT)
|
||||
else
|
||||
BIN = ../../libapps$(LIBEXT)
|
||||
endif
|
||||
endif
|
||||
|
||||
ROOTDEPPATH = --dep-path .
|
||||
|
@ -70,26 +74,25 @@ $(COBJS): %$(OBJEXT): %.c
|
|||
$(call COMPILE, $<, $@)
|
||||
|
||||
.built: $(OBJS)
|
||||
@( for obj in $(OBJS) ; do \
|
||||
$(call ARCHIVE, $(BIN), $${obj}); \
|
||||
done ; )
|
||||
$(call ARCHIVE, $(BIN), $(OBJS))
|
||||
@touch .built
|
||||
|
||||
context:
|
||||
|
||||
.depend: Makefile $(SRCS)
|
||||
@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
@touch $@
|
||||
|
||||
# Register application
|
||||
depend: .depend
|
||||
|
||||
clean:
|
||||
@rm -f *.o *~ .*.swp .built
|
||||
$(call DELFILE, .built)
|
||||
$(call CLEAN)
|
||||
|
||||
distclean: clean
|
||||
@rm -f Make.dep .depend
|
||||
$(call DELFILE, Make.dep)
|
||||
$(call DELFILE, .depend)
|
||||
|
||||
-include Make.dep
|
||||
|
||||
|
|
|
@ -48,10 +48,14 @@ COBJS = $(CSRCS:.c=$(OBJEXT))
|
|||
SRCS = $(ASRCS) $(CSRCS)
|
||||
OBJS = $(AOBJS) $(COBJS)
|
||||
|
||||
ifeq ($(WINTOOL),y)
|
||||
BIN = "${shell cygpath -w $(APPDIR)/libapps$(LIBEXT)}"
|
||||
ifeq ($(CONFIG_WINDOWS_NATIVE),y)
|
||||
BIN = ..\..\libapps$(LIBEXT)
|
||||
else
|
||||
BIN = "$(APPDIR)/libapps$(LIBEXT)"
|
||||
ifeq ($(WINTOOL),y)
|
||||
BIN = ..\\..\\libapps$(LIBEXT)
|
||||
else
|
||||
BIN = ../../libapps$(LIBEXT)
|
||||
endif
|
||||
endif
|
||||
|
||||
ROOTDEPPATH = --dep-path .
|
||||
|
@ -76,9 +80,7 @@ $(COBJS): %$(OBJEXT): %.c
|
|||
$(call COMPILE, $<, $@)
|
||||
|
||||
.built: $(OBJS)
|
||||
@( for obj in $(OBJS) ; do \
|
||||
$(call ARCHIVE, $(BIN), $${obj}); \
|
||||
done ; )
|
||||
$(call ARCHIVE, $(BIN), $(OBJS))
|
||||
@touch .built
|
||||
|
||||
.context:
|
||||
|
@ -88,16 +90,17 @@ $(COBJS): %$(OBJEXT): %.c
|
|||
context: .context
|
||||
|
||||
.depend: Makefile $(SRCS)
|
||||
@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
@touch $@
|
||||
|
||||
depend: .depend
|
||||
|
||||
clean:
|
||||
@rm -f *.o *~ .*.swp .built
|
||||
$(call DELFILE, .built)
|
||||
$(call CLEAN)
|
||||
|
||||
distclean: clean
|
||||
@rm -f Make.dep .depend
|
||||
$(call DELFILE, Make.dep)
|
||||
$(call DELFILE, .depend)
|
||||
|
||||
-include Make.dep
|
||||
|
|
|
@ -107,8 +107,8 @@ enum GPS_MODES {
|
|||
|
||||
|
||||
#define AUTO_DETECTION_COUNT 8
|
||||
const int autodetection_baudrates[] = {B9600, B38400, B38400, B9600, B9600, B38400, B9600, B38400};
|
||||
const enum GPS_MODES autodetection_gpsmodes[] = {GPS_MODE_UBX, GPS_MODE_MTK, GPS_MODE_UBX, GPS_MODE_MTK, GPS_MODE_UBX, GPS_MODE_MTK, GPS_MODE_NMEA, GPS_MODE_NMEA}; //nmea is the fall-back if nothing else works, therefore we try the standard modes again before finally trying nmea
|
||||
const int autodetection_baudrates[] = {B38400, B9600, B38400, B9600, B38400, B9600, B38400, B9600};
|
||||
const enum GPS_MODES autodetection_gpsmodes[] = {GPS_MODE_UBX, GPS_MODE_UBX, GPS_MODE_MTK, GPS_MODE_MTK, GPS_MODE_UBX, GPS_MODE_UBX, GPS_MODE_NMEA, GPS_MODE_NMEA}; //nmea is the fall-back if nothing else works, therefore we try the standard modes again before finally trying nmea
|
||||
|
||||
/****************************************************************************
|
||||
* Private functions
|
||||
|
@ -368,7 +368,6 @@ int gps_thread_main(int argc, char *argv[]) {
|
|||
args.thread_should_exit_ptr = &thread_should_exit;
|
||||
|
||||
pthread_create(&ubx_thread, &ubx_loop_attr, ubx_loop, (void *)&args);
|
||||
sleep(2); // XXX TODO Check if this is too short, try to lower sleeps in UBX driver
|
||||
|
||||
pthread_attr_t ubx_wd_attr;
|
||||
pthread_attr_init(&ubx_wd_attr);
|
||||
|
|
316
apps/gps/ubx.c
316
apps/gps/ubx.c
|
@ -52,7 +52,7 @@
|
|||
#define UBX_HEALTH_FAIL_COUNTER_LIMIT 3
|
||||
#define UBX_HEALTH_PROBE_COUNTER_LIMIT 4
|
||||
|
||||
#define UBX_BUFFER_SIZE 1000
|
||||
#define UBX_BUFFER_SIZE 500
|
||||
|
||||
extern bool gps_mode_try_all;
|
||||
extern bool gps_mode_success;
|
||||
|
@ -63,18 +63,10 @@ extern int current_gps_speed;
|
|||
|
||||
pthread_mutex_t *ubx_mutex;
|
||||
gps_bin_ubx_state_t *ubx_state;
|
||||
enum UBX_CONFIG_STATE ubx_config_state;
|
||||
static struct vehicle_gps_position_s *ubx_gps;
|
||||
|
||||
|
||||
//Definitions for ubx, last two bytes are checksum which is calculated below
|
||||
uint8_t UBX_CONFIG_MESSAGE_PRT[] = {0xB5 , 0x62 , 0x06 , 0x00 , 0x14 , 0x00 , 0x01 , 0x00 , 0x00 , 0x00 , 0xD0 , 0x08 , 0x00 , 0x00 , 0x80 , 0x25 , 0x00 , 0x00 , 0x07 , 0x00 , 0x01 , 0x00 , 0x00 , 0x00 , 0x00 , 0x00};
|
||||
uint8_t UBX_CONFIG_MESSAGE_MSG_NAV_POSLLH[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0x01, 0x02, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00};
|
||||
uint8_t UBX_CONFIG_MESSAGE_MSG_NAV_TIMEUTC[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0x01, 0x21, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00};
|
||||
uint8_t UBX_CONFIG_MESSAGE_MSG_NAV_DOP[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0x01, 0x04, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00};
|
||||
uint8_t UBX_CONFIG_MESSAGE_MSG_NAV_SVINFO[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0x01, 0x30, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00};
|
||||
uint8_t UBX_CONFIG_MESSAGE_MSG_NAV_SOL[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0x01, 0x06, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00};
|
||||
uint8_t UBX_CONFIG_MESSAGE_MSG_NAV_VELNED[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0x01, 0x12, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00};
|
||||
uint8_t UBX_CONFIG_MESSAGE_MSG_RXM_SVSI[] = {0xB5, 0x62, 0x06, 0x01, 0x08, 0x00, 0x02, 0x20, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00};
|
||||
|
||||
void ubx_decode_init(void)
|
||||
{
|
||||
|
@ -100,15 +92,15 @@ void ubx_checksum(uint8_t b, uint8_t *ck_a, uint8_t *ck_b)
|
|||
|
||||
int ubx_parse(uint8_t b, char *gps_rx_buffer)
|
||||
{
|
||||
// printf("b=%x\n",b);
|
||||
//printf("b=%x\n",b);
|
||||
if (ubx_state->decode_state == UBX_DECODE_UNINIT) {
|
||||
|
||||
if (b == 0xb5) {
|
||||
if (b == UBX_SYNC_1) {
|
||||
ubx_state->decode_state = UBX_DECODE_GOT_SYNC1;
|
||||
}
|
||||
|
||||
} else if (ubx_state->decode_state == UBX_DECODE_GOT_SYNC1) {
|
||||
if (b == 0x62) {
|
||||
if (b == UBX_SYNC_2) {
|
||||
ubx_state->decode_state = UBX_DECODE_GOT_SYNC2;
|
||||
|
||||
} else {
|
||||
|
@ -122,16 +114,25 @@ int ubx_parse(uint8_t b, char *gps_rx_buffer)
|
|||
|
||||
//check for known class
|
||||
switch (b) {
|
||||
case UBX_CLASS_NAV: //NAV
|
||||
case UBX_CLASS_ACK:
|
||||
ubx_state->decode_state = UBX_DECODE_GOT_CLASS;
|
||||
ubx_state->message_class = ACK;
|
||||
break;
|
||||
|
||||
case UBX_CLASS_NAV:
|
||||
ubx_state->decode_state = UBX_DECODE_GOT_CLASS;
|
||||
ubx_state->message_class = NAV;
|
||||
break;
|
||||
|
||||
case UBX_CLASS_RXM: //RXM
|
||||
case UBX_CLASS_RXM:
|
||||
ubx_state->decode_state = UBX_DECODE_GOT_CLASS;
|
||||
ubx_state->message_class = RXM;
|
||||
break;
|
||||
|
||||
case UBX_CLASS_CFG:
|
||||
ubx_state->decode_state = UBX_DECODE_GOT_CLASS;
|
||||
ubx_state->message_class = CFG;
|
||||
break;
|
||||
default: //unknown class: reset state machine
|
||||
ubx_decode_init();
|
||||
break;
|
||||
|
@ -193,9 +194,36 @@ int ubx_parse(uint8_t b, char *gps_rx_buffer)
|
|||
ubx_decode_init();
|
||||
break;
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
case CFG:
|
||||
switch (b) {
|
||||
case UBX_MESSAGE_CFG_NAV5:
|
||||
ubx_state->decode_state = UBX_DECODE_GOT_MESSAGEID;
|
||||
ubx_state->message_id = CFG_NAV5;
|
||||
break;
|
||||
|
||||
default: //unknown class: reset state machine, should not happen
|
||||
ubx_decode_init();
|
||||
break;
|
||||
}
|
||||
break;
|
||||
|
||||
case ACK:
|
||||
switch (b) {
|
||||
case UBX_MESSAGE_ACK_ACK:
|
||||
ubx_state->decode_state = UBX_DECODE_GOT_MESSAGEID;
|
||||
ubx_state->message_id = ACK_ACK;
|
||||
break;
|
||||
case UBX_MESSAGE_ACK_NAK:
|
||||
ubx_state->decode_state = UBX_DECODE_GOT_MESSAGEID;
|
||||
ubx_state->message_id = ACK_NAK;
|
||||
break;
|
||||
default: //unknown class: reset state machine, should not happen
|
||||
ubx_decode_init();
|
||||
break;
|
||||
}
|
||||
break;
|
||||
default: //should not happen
|
||||
ubx_decode_init();
|
||||
break;
|
||||
|
@ -542,6 +570,75 @@ int ubx_parse(uint8_t b, char *gps_rx_buffer)
|
|||
break;
|
||||
}
|
||||
|
||||
case ACK_ACK: {
|
||||
// printf("GOT ACK_ACK\n");
|
||||
gps_bin_ack_ack_packet_t *packet = (gps_bin_ack_ack_packet_t *) gps_rx_buffer;
|
||||
|
||||
//Check if checksum is valid
|
||||
if (ubx_state->ck_a == packet->ck_a && ubx_state->ck_b == packet->ck_b) {
|
||||
|
||||
switch (ubx_config_state) {
|
||||
case UBX_CONFIG_STATE_PRT:
|
||||
if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_PRT)
|
||||
ubx_config_state++;
|
||||
break;
|
||||
case UBX_CONFIG_STATE_NAV5:
|
||||
if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_NAV5)
|
||||
ubx_config_state++;
|
||||
break;
|
||||
case UBX_CONFIG_STATE_MSG_NAV_POSLLH:
|
||||
case UBX_CONFIG_STATE_MSG_NAV_TIMEUTC:
|
||||
case UBX_CONFIG_STATE_MSG_NAV_DOP:
|
||||
case UBX_CONFIG_STATE_MSG_NAV_SVINFO:
|
||||
case UBX_CONFIG_STATE_MSG_NAV_SOL:
|
||||
case UBX_CONFIG_STATE_MSG_NAV_VELNED:
|
||||
case UBX_CONFIG_STATE_MSG_RXM_SVSI:
|
||||
if (packet->clsID == UBX_CLASS_CFG && packet->msgID == UBX_MESSAGE_CFG_MSG)
|
||||
ubx_config_state++;
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
|
||||
ret = 1;
|
||||
|
||||
} else {
|
||||
if (gps_verbose) printf("[gps] ACK_ACK: checksum invalid\n");
|
||||
|
||||
ret = 0;
|
||||
}
|
||||
|
||||
// Reset state machine to decode next packet
|
||||
ubx_decode_init();
|
||||
return ret;
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
case ACK_NAK: {
|
||||
// printf("GOT ACK_NAK\n");
|
||||
gps_bin_ack_nak_packet_t *packet = (gps_bin_ack_nak_packet_t *) gps_rx_buffer;
|
||||
|
||||
//Check if checksum is valid
|
||||
if (ubx_state->ck_a == packet->ck_a && ubx_state->ck_b == packet->ck_b) {
|
||||
|
||||
if (gps_verbose) printf("[gps] the ubx gps returned: not acknowledged\n");
|
||||
ret = 1;
|
||||
|
||||
} else {
|
||||
if (gps_verbose) printf("[gps] ACK_NAK: checksum invalid\n");
|
||||
|
||||
ret = 0;
|
||||
}
|
||||
|
||||
// Reset state machine to decode next packet
|
||||
ubx_decode_init();
|
||||
return ret;
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
default: //something went wrong
|
||||
ubx_decode_init();
|
||||
|
||||
|
@ -574,53 +671,105 @@ void calculate_ubx_checksum(uint8_t *message, uint8_t length)
|
|||
|
||||
message[length - 2] = ck_a;
|
||||
message[length - 1] = ck_b;
|
||||
|
||||
// printf("[%x,%x]", ck_a, ck_b);
|
||||
|
||||
// printf("[%x,%x]\n", message[length-2], message[length-1]);
|
||||
}
|
||||
|
||||
int configure_gps_ubx(int *fd)
|
||||
{
|
||||
//fflush(((FILE *)fd));
|
||||
// only needed once like this
|
||||
const type_gps_bin_cfg_prt_packet_t cfg_prt_packet = {
|
||||
.clsID = UBX_CLASS_CFG,
|
||||
.msgID = UBX_MESSAGE_CFG_PRT,
|
||||
.length = UBX_CFG_PRT_LENGTH,
|
||||
.portID = UBX_CFG_PRT_PAYLOAD_PORTID,
|
||||
.mode = UBX_CFG_PRT_PAYLOAD_MODE,
|
||||
.baudRate = current_gps_speed,
|
||||
.inProtoMask = UBX_CFG_PRT_PAYLOAD_INPROTOMASK,
|
||||
.outProtoMask = UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK,
|
||||
.ck_a = 0,
|
||||
.ck_b = 0
|
||||
};
|
||||
|
||||
//TODO: write this in a loop once it is tested
|
||||
//UBX_CFG_PRT_PART:
|
||||
write_config_message_ubx(UBX_CONFIG_MESSAGE_PRT, sizeof(UBX_CONFIG_MESSAGE_PRT) / sizeof(uint8_t) , *fd);
|
||||
// only needed once like this
|
||||
const type_gps_bin_cfg_nav5_packet_t cfg_nav5_packet = {
|
||||
.clsID = UBX_CLASS_CFG,
|
||||
.msgID = UBX_MESSAGE_CFG_NAV5,
|
||||
.length = UBX_CFG_NAV5_LENGTH,
|
||||
.mask = UBX_CFG_NAV5_PAYLOAD_MASK,
|
||||
.dynModel = UBX_CFG_NAV5_PAYLOAD_DYNMODEL,
|
||||
.fixMode = UBX_CFG_NAV5_PAYLOAD_FIXMODE,
|
||||
.ck_a = 0,
|
||||
.ck_b = 0
|
||||
};
|
||||
|
||||
usleep(100000);
|
||||
// this message is reusable for different configuration commands, so not const
|
||||
type_gps_bin_cfg_msg_packet cfg_msg_packet = {
|
||||
.clsID = UBX_CLASS_CFG,
|
||||
.msgID = UBX_MESSAGE_CFG_MSG,
|
||||
.length = UBX_CFG_MSG_LENGTH,
|
||||
.rate = UBX_CFG_MSG_PAYLOAD_RATE
|
||||
};
|
||||
|
||||
//NAV_POSLLH:
|
||||
write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_NAV_POSLLH, sizeof(UBX_CONFIG_MESSAGE_MSG_NAV_POSLLH) / sizeof(uint8_t) , *fd);
|
||||
usleep(100000);
|
||||
uint64_t time_before_config = hrt_absolute_time();
|
||||
|
||||
//NAV_TIMEUTC:
|
||||
write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_NAV_TIMEUTC, sizeof(UBX_CONFIG_MESSAGE_MSG_NAV_TIMEUTC) / sizeof(uint8_t) , *fd);
|
||||
usleep(100000);
|
||||
while(hrt_absolute_time() < time_before_config + UBX_CONFIG_TIMEOUT) {
|
||||
|
||||
//NAV_DOP:
|
||||
write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_NAV_DOP, sizeof(UBX_CONFIG_MESSAGE_MSG_NAV_DOP) / sizeof(uint8_t) , *fd);
|
||||
usleep(100000);
|
||||
// if (gps_verbose) printf("[gps] ubx config state: %d\n", ubx_config_state);
|
||||
|
||||
//NAV_SOL:
|
||||
write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_NAV_SOL, sizeof(UBX_CONFIG_MESSAGE_MSG_NAV_SOL) / sizeof(uint8_t) , *fd);
|
||||
usleep(100000);
|
||||
switch (ubx_config_state) {
|
||||
case UBX_CONFIG_STATE_PRT:
|
||||
// if (gps_verbose) printf("[gps] Configuring ubx with baudrate: %d\n", cfg_prt_packet.baudRate);
|
||||
|
||||
|
||||
//NAV_SVINFO:
|
||||
write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_NAV_SVINFO, sizeof(UBX_CONFIG_MESSAGE_MSG_NAV_SVINFO) / sizeof(uint8_t) , *fd);
|
||||
usleep(100000);
|
||||
|
||||
//NAV_VELNED:
|
||||
write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_NAV_VELNED, sizeof(UBX_CONFIG_MESSAGE_MSG_NAV_VELNED) / sizeof(uint8_t) , *fd);
|
||||
usleep(100000);
|
||||
|
||||
|
||||
//RXM_SVSI:
|
||||
write_config_message_ubx(UBX_CONFIG_MESSAGE_MSG_RXM_SVSI, sizeof(UBX_CONFIG_MESSAGE_MSG_RXM_SVSI) / sizeof(uint8_t) , *fd);
|
||||
usleep(100000);
|
||||
|
||||
return 0;
|
||||
write_config_message_ubx((uint8_t*)(&cfg_prt_packet), sizeof(cfg_prt_packet), fd);
|
||||
break;
|
||||
case UBX_CONFIG_STATE_NAV5:
|
||||
write_config_message_ubx((uint8_t*)(&cfg_nav5_packet), sizeof(cfg_nav5_packet), fd);
|
||||
break;
|
||||
case UBX_CONFIG_STATE_MSG_NAV_POSLLH:
|
||||
cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
|
||||
cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_POSLLH;
|
||||
write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd);
|
||||
break;
|
||||
case UBX_CONFIG_STATE_MSG_NAV_TIMEUTC:
|
||||
cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
|
||||
cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_TIMEUTC;
|
||||
write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd);
|
||||
break;
|
||||
case UBX_CONFIG_STATE_MSG_NAV_DOP:
|
||||
cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
|
||||
cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_DOP;
|
||||
write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd);
|
||||
break;
|
||||
case UBX_CONFIG_STATE_MSG_NAV_SVINFO:
|
||||
cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
|
||||
cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_SVINFO;
|
||||
write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd);
|
||||
break;
|
||||
case UBX_CONFIG_STATE_MSG_NAV_SOL:
|
||||
cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
|
||||
cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_SOL;
|
||||
write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd);
|
||||
break;
|
||||
case UBX_CONFIG_STATE_MSG_NAV_VELNED:
|
||||
cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV;
|
||||
cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_VELNED;
|
||||
write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd);
|
||||
break;
|
||||
case UBX_CONFIG_STATE_MSG_RXM_SVSI:
|
||||
cfg_msg_packet.msgClass_payload = UBX_CLASS_RXM;
|
||||
cfg_msg_packet.msgID_payload = UBX_MESSAGE_RXM_SVSI;
|
||||
write_config_message_ubx((uint8_t*)(&cfg_msg_packet), sizeof(cfg_msg_packet), fd);
|
||||
break;
|
||||
case UBX_CONFIG_STATE_CONFIGURED:
|
||||
if (gps_verbose) printf("[gps] ubx configuration finished\n");
|
||||
return OK;
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
usleep(10000);
|
||||
}
|
||||
if (gps_verbose) printf("[gps] ubx configuration timeout\n");
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
|
||||
|
@ -637,22 +786,17 @@ int read_gps_ubx(int *fd, char *gps_rx_buffer, int buffer_size)
|
|||
fds.events = POLLIN;
|
||||
|
||||
// UBX GPS mode
|
||||
|
||||
// This blocks the task until there is something on the buffer
|
||||
while (1) {
|
||||
//check if the thread should terminate
|
||||
if (terminate_gps_thread == true) {
|
||||
// printf("terminate_gps_thread=%u ", terminate_gps_thread);
|
||||
// printf("exiting mtk thread\n");
|
||||
// fflush(stdout);
|
||||
ret = 1;
|
||||
break;
|
||||
}
|
||||
|
||||
if (poll(&fds, 1, 1000) > 0) {
|
||||
if (read(*fd, &c, 1) > 0) {
|
||||
|
||||
// printf("Read %x\n",c);
|
||||
// printf("Read %x\n",c);
|
||||
if (rx_count >= buffer_size) {
|
||||
// The buffer is already full and we haven't found a valid ubx sentence.
|
||||
// Flush the buffer and note the overflow event.
|
||||
|
@ -671,7 +815,7 @@ int read_gps_ubx(int *fd, char *gps_rx_buffer, int buffer_size)
|
|||
int msg_read = ubx_parse(c, gps_rx_buffer);
|
||||
|
||||
if (msg_read > 0) {
|
||||
// printf("Found sequence\n");
|
||||
//printf("Found sequence\n");
|
||||
break;
|
||||
}
|
||||
|
||||
|
@ -688,28 +832,41 @@ int read_gps_ubx(int *fd, char *gps_rx_buffer, int buffer_size)
|
|||
return ret;
|
||||
}
|
||||
|
||||
int write_config_message_ubx(uint8_t *message, size_t length, int fd)
|
||||
int write_config_message_ubx(const uint8_t *message, const size_t length, const int *fd)
|
||||
{
|
||||
//calculate and write checksum to the end
|
||||
uint8_t ck_a = 0;
|
||||
uint8_t ck_b = 0;
|
||||
|
||||
unsigned int i;
|
||||
|
||||
for (i = 2; i < length; i++) {
|
||||
uint8_t buffer[2];
|
||||
ssize_t result_write = 0;
|
||||
|
||||
//calculate and write checksum to the end
|
||||
for (i = 0; i < length-2; i++) {
|
||||
ck_a = ck_a + message[i];
|
||||
ck_b = ck_b + ck_a;
|
||||
}
|
||||
|
||||
// printf("[%x,%x]\n", ck_a, ck_b);
|
||||
// write sync bytes first
|
||||
buffer[0] = UBX_SYNC_1;
|
||||
buffer[1] = UBX_SYNC_2;
|
||||
|
||||
unsigned int result_write = write(fd, message, length);
|
||||
result_write += write(fd, &ck_a, 1);
|
||||
result_write += write(fd, &ck_b, 1);
|
||||
fsync(fd);
|
||||
// write config message without the checksum
|
||||
result_write = write(*fd, buffer, sizeof(buffer));
|
||||
result_write += write(*fd, message, length-2);
|
||||
|
||||
return (result_write != length + 2); //return 0 as success
|
||||
buffer[0] = ck_a;
|
||||
buffer[1] = ck_b;
|
||||
|
||||
// write the checksum
|
||||
result_write += write(*fd, buffer, sizeof(buffer));
|
||||
|
||||
fsync(*fd);
|
||||
if ((unsigned int)result_write != length + 2)
|
||||
return ERROR;
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
void *ubx_watchdog_loop(void *args)
|
||||
|
@ -723,6 +880,10 @@ void *ubx_watchdog_loop(void *args)
|
|||
int *fd = arguments->fd_ptr;
|
||||
bool *thread_should_exit = arguments->thread_should_exit_ptr;
|
||||
|
||||
ubx_config_state = UBX_CONFIG_STATE_PRT;
|
||||
/* first try to configure the GPS anyway */
|
||||
configure_gps_ubx(fd);
|
||||
|
||||
/* GPS watchdog error message skip counter */
|
||||
|
||||
bool ubx_healthy = false;
|
||||
|
@ -780,7 +941,9 @@ void *ubx_watchdog_loop(void *args)
|
|||
ubx_healthy = false;
|
||||
ubx_success_count = 0;
|
||||
}
|
||||
|
||||
/* trying to reconfigure the gps configuration */
|
||||
ubx_config_state = UBX_CONFIG_STATE_PRT;
|
||||
configure_gps_ubx(fd);
|
||||
fflush(stdout);
|
||||
sleep(1);
|
||||
|
@ -833,23 +996,6 @@ void *ubx_loop(void *args)
|
|||
|
||||
/* set parameters for ubx */
|
||||
|
||||
if (configure_gps_ubx(fd) != 0) {
|
||||
printf("[gps] Configuration of gps module to ubx failed\n");
|
||||
|
||||
/* Write shared variable sys_status */
|
||||
// TODO enable this again
|
||||
//global_data_send_subsystem_info(&ubx_present);
|
||||
|
||||
} else {
|
||||
if (gps_verbose) printf("[gps] Attempting to configure GPS to UBX binary protocol\n");
|
||||
|
||||
// XXX Shouldn't the system status only change if the module is known to work ok?
|
||||
|
||||
/* Write shared variable sys_status */
|
||||
// TODO enable this again
|
||||
//global_data_send_subsystem_info(&ubx_present_enabled);
|
||||
}
|
||||
|
||||
struct vehicle_gps_position_s ubx_gps_d = {.counter = 0};
|
||||
|
||||
ubx_gps = &ubx_gps_d;
|
||||
|
|
117
apps/gps/ubx.h
117
apps/gps/ubx.h
|
@ -49,15 +49,17 @@
|
|||
|
||||
|
||||
//internal definitions (not depending on the ubx protocol
|
||||
#define CONFIGURE_UBX_FINISHED 0
|
||||
#define CONFIGURE_UBX_MESSAGE_ACKNOWLEDGED 1
|
||||
#define CONFIGURE_UBX_MESSAGE_NOT_ACKNOWLEDGED 2
|
||||
#define UBX_NO_OF_MESSAGES 7 /**< Read 7 UBX GPS messages */
|
||||
#define UBX_WATCHDOG_CRITICAL_TIME_MICROSECONDS 3000000 /**< Allow 3 seconds maximum inter-message time */
|
||||
#define UBX_WATCHDOG_WAIT_TIME_MICROSECONDS 500000 /**< Check for current state every 0.4 seconds */
|
||||
#define UBX_WATCHDOG_WAIT_TIME_MICROSECONDS 2000000 /**< Check for current state every two seconds */
|
||||
|
||||
#define UBX_CONFIG_TIMEOUT 1000000
|
||||
|
||||
#define APPNAME "gps: ubx"
|
||||
|
||||
#define UBX_SYNC_1 0xB5
|
||||
#define UBX_SYNC_2 0x62
|
||||
|
||||
//UBX Protocoll definitions (this is the subset of the messages that are parsed)
|
||||
#define UBX_CLASS_NAV 0x01
|
||||
#define UBX_CLASS_RXM 0x02
|
||||
|
@ -72,6 +74,24 @@
|
|||
#define UBX_MESSAGE_RXM_SVSI 0x20
|
||||
#define UBX_MESSAGE_ACK_ACK 0x01
|
||||
#define UBX_MESSAGE_ACK_NAK 0x00
|
||||
#define UBX_MESSAGE_CFG_PRT 0x00
|
||||
#define UBX_MESSAGE_CFG_NAV5 0x24
|
||||
#define UBX_MESSAGE_CFG_MSG 0x01
|
||||
|
||||
#define UBX_CFG_PRT_LENGTH 20
|
||||
#define UBX_CFG_PRT_PAYLOAD_PORTID 0x01 /**< port 1 */
|
||||
#define UBX_CFG_PRT_PAYLOAD_MODE 0x000008D0 /**< 0b0000100011010000: 8N1 */
|
||||
#define UBX_CFG_PRT_PAYLOAD_BAUDRATE 38400 /**< always choose 38400 as GPS baudrate */
|
||||
#define UBX_CFG_PRT_PAYLOAD_INPROTOMASK 0x01 /**< ubx in */
|
||||
#define UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK 0x01 /**< ubx out */
|
||||
|
||||
#define UBX_CFG_NAV5_LENGTH 36
|
||||
#define UBX_CFG_NAV5_PAYLOAD_MASK 0x0001 /**< only update dynamic model and fix mode */
|
||||
#define UBX_CFG_NAV5_PAYLOAD_DYNMODEL 7 /**< 0: portable, 2: stationary, 3: pedestrian, 4: automotive, 5: sea, 6: airborne <1g, 7: airborne <2g, 8: airborne <4g */
|
||||
#define UBX_CFG_NAV5_PAYLOAD_FIXMODE 2 /**< 1: 2D only, 2: 3D only, 3: Auto 2D/3D */
|
||||
|
||||
#define UBX_CFG_MSG_LENGTH 8
|
||||
#define UBX_CFG_MSG_PAYLOAD_RATE {0x00, 0x01, 0x00, 0x00, 0x00, 0x00} /**< UART1 chosen */
|
||||
|
||||
|
||||
// ************
|
||||
|
@ -216,7 +236,7 @@ typedef type_gps_bin_rxm_svsi_packet gps_bin_rxm_svsi_packet_t;
|
|||
|
||||
typedef struct {
|
||||
uint8_t clsID;
|
||||
uint8_t msgId;
|
||||
uint8_t msgID;
|
||||
|
||||
uint8_t ck_a;
|
||||
uint8_t ck_b;
|
||||
|
@ -226,7 +246,7 @@ typedef type_gps_bin_ack_ack_packet gps_bin_ack_ack_packet_t;
|
|||
|
||||
typedef struct {
|
||||
uint8_t clsID;
|
||||
uint8_t msgId;
|
||||
uint8_t msgID;
|
||||
|
||||
uint8_t ck_a;
|
||||
uint8_t ck_b;
|
||||
|
@ -234,15 +254,91 @@ typedef struct {
|
|||
|
||||
typedef type_gps_bin_ack_nak_packet gps_bin_ack_nak_packet_t;
|
||||
|
||||
typedef struct {
|
||||
uint8_t clsID;
|
||||
uint8_t msgID;
|
||||
uint16_t length;
|
||||
uint8_t portID;
|
||||
uint8_t res0;
|
||||
uint16_t res1;
|
||||
uint32_t mode;
|
||||
uint32_t baudRate;
|
||||
uint16_t inProtoMask;
|
||||
uint16_t outProtoMask;
|
||||
uint16_t flags;
|
||||
uint16_t pad;
|
||||
|
||||
uint8_t ck_a;
|
||||
uint8_t ck_b;
|
||||
} type_gps_bin_cfg_prt_packet;
|
||||
|
||||
typedef type_gps_bin_cfg_prt_packet type_gps_bin_cfg_prt_packet_t;
|
||||
|
||||
typedef struct {
|
||||
uint8_t clsID;
|
||||
uint8_t msgID;
|
||||
uint16_t length;
|
||||
uint16_t mask;
|
||||
uint8_t dynModel;
|
||||
uint8_t fixMode;
|
||||
int32_t fixedAlt;
|
||||
uint32_t fixedAltVar;
|
||||
int8_t minElev;
|
||||
uint8_t drLimit;
|
||||
uint16_t pDop;
|
||||
uint16_t tDop;
|
||||
uint16_t pAcc;
|
||||
uint16_t tAcc;
|
||||
uint8_t staticHoldThresh;
|
||||
uint8_t dgpsTimeOut;
|
||||
uint32_t reserved2;
|
||||
uint32_t reserved3;
|
||||
uint32_t reserved4;
|
||||
|
||||
uint8_t ck_a;
|
||||
uint8_t ck_b;
|
||||
} type_gps_bin_cfg_nav5_packet;
|
||||
|
||||
typedef type_gps_bin_cfg_nav5_packet type_gps_bin_cfg_nav5_packet_t;
|
||||
|
||||
typedef struct {
|
||||
uint8_t clsID;
|
||||
uint8_t msgID;
|
||||
uint16_t length;
|
||||
uint8_t msgClass_payload;
|
||||
uint8_t msgID_payload;
|
||||
uint8_t rate[6];
|
||||
|
||||
uint8_t ck_a;
|
||||
uint8_t ck_b;
|
||||
} type_gps_bin_cfg_msg_packet;
|
||||
|
||||
typedef type_gps_bin_cfg_msg_packet type_gps_bin_cfg_msg_packet_t;
|
||||
|
||||
|
||||
// END the structures of the binary packets
|
||||
// ************
|
||||
|
||||
enum UBX_CONFIG_STATE {
|
||||
UBX_CONFIG_STATE_NONE = 0,
|
||||
UBX_CONFIG_STATE_PRT = 1,
|
||||
UBX_CONFIG_STATE_NAV5 = 2,
|
||||
UBX_CONFIG_STATE_MSG_NAV_POSLLH = 3,
|
||||
UBX_CONFIG_STATE_MSG_NAV_TIMEUTC = 4,
|
||||
UBX_CONFIG_STATE_MSG_NAV_DOP = 5,
|
||||
UBX_CONFIG_STATE_MSG_NAV_SVINFO = 6,
|
||||
UBX_CONFIG_STATE_MSG_NAV_SOL = 7,
|
||||
UBX_CONFIG_STATE_MSG_NAV_VELNED = 8,
|
||||
UBX_CONFIG_STATE_MSG_RXM_SVSI = 9,
|
||||
UBX_CONFIG_STATE_CONFIGURED = 10
|
||||
};
|
||||
|
||||
enum UBX_MESSAGE_CLASSES {
|
||||
CLASS_UNKNOWN = 0,
|
||||
NAV = 1,
|
||||
RXM = 2,
|
||||
ACK = 3
|
||||
ACK = 3,
|
||||
CFG = 4
|
||||
};
|
||||
|
||||
enum UBX_MESSAGE_IDS {
|
||||
|
@ -254,7 +350,10 @@ enum UBX_MESSAGE_IDS {
|
|||
NAV_DOP = 4,
|
||||
NAV_SVINFO = 5,
|
||||
NAV_VELNED = 6,
|
||||
RXM_SVSI = 7
|
||||
RXM_SVSI = 7,
|
||||
CFG_NAV5 = 8,
|
||||
ACK_ACK = 9,
|
||||
ACK_NAK = 10
|
||||
};
|
||||
|
||||
enum UBX_DECODE_STATES {
|
||||
|
@ -304,7 +403,7 @@ int configure_gps_ubx(int *fd);
|
|||
|
||||
int read_gps_ubx(int *fd, char *gps_rx_buffer, int buffer_size);
|
||||
|
||||
int write_config_message_ubx(uint8_t *message, size_t length, int fd);
|
||||
int write_config_message_ubx(const uint8_t *message, const size_t length, const int *fd);
|
||||
|
||||
void calculate_ubx_checksum(uint8_t *message, uint8_t length);
|
||||
|
||||
|
|
|
@ -7,7 +7,7 @@ comment "Interpreters"
|
|||
|
||||
source "$APPSDIR/interpreters/ficl/Kconfig"
|
||||
|
||||
config PCODE
|
||||
config INTERPRETERS_PCODE
|
||||
bool "Pascal p-code interpreter"
|
||||
default n
|
||||
---help---
|
||||
|
@ -16,6 +16,6 @@ config PCODE
|
|||
configuration implies that you have performed the required installation of the
|
||||
Pascal run-time code.
|
||||
|
||||
if PCODE
|
||||
if INTERPRETERS_PCODE
|
||||
endif
|
||||
|
||||
|
|
|
@ -34,10 +34,10 @@
|
|||
#
|
||||
############################################################################
|
||||
|
||||
ifeq ($(CONFIG_PCODE),y)
|
||||
ifeq ($(CONFIG_INTERPRETERS_PCODE),y)
|
||||
CONFIGURED_APPS += interpreters/pcode
|
||||
endif
|
||||
|
||||
ifeq ($(CONFIG_FICL),y)
|
||||
ifeq ($(CONFIG_INTERPRETERS_FICL),y)
|
||||
CONFIGURED_APPS += interpreters/ficl
|
||||
endif
|
||||
|
|
|
@ -33,7 +33,7 @@
|
|||
#
|
||||
############################################################################
|
||||
|
||||
-include $(TOPDIR)/.config # Current configuration
|
||||
-include $(TOPDIR)/.config
|
||||
|
||||
# Sub-directories containing interpreter runtime
|
||||
|
||||
|
@ -41,30 +41,36 @@ SUBDIRS = pcode ficl
|
|||
|
||||
# Create the list of installed runtime modules (INSTALLED_DIRS)
|
||||
|
||||
ifeq ($(CONFIG_WINDOWS_NATIVE),y)
|
||||
define ADD_DIRECTORY
|
||||
INSTALLED_DIRS += ${shell if exist $1\Makefile (echo $1)}
|
||||
endef
|
||||
else
|
||||
define ADD_DIRECTORY
|
||||
INSTALLED_DIRS += ${shell if [ -r $1/Makefile ]; then echo "$1"; fi}
|
||||
endef
|
||||
endif
|
||||
|
||||
$(foreach DIR, $(SUBDIRS), $(eval $(call ADD_DIRECTORY,$(DIR))))
|
||||
|
||||
all: nothing
|
||||
.PHONY: nothing context depend clean distclean
|
||||
|
||||
define SDIR_template
|
||||
$(1)_$(2):
|
||||
$(Q) $(MAKE) -C $(1) $(2) TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"
|
||||
endef
|
||||
|
||||
$(foreach SDIR, $(INSTALLED_DIRS), $(eval $(call SDIR_template,$(SDIR),depend)))
|
||||
$(foreach SDIR, $(INSTALLED_DIRS), $(eval $(call SDIR_template,$(SDIR),clean)))
|
||||
$(foreach SDIR, $(INSTALLED_DIRS), $(eval $(call SDIR_template,$(SDIR),distclean)))
|
||||
|
||||
nothing:
|
||||
|
||||
context:
|
||||
|
||||
depend:
|
||||
@for dir in $(INSTALLED_DIRS) ; do \
|
||||
$(MAKE) -C $$dir depend TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"; \
|
||||
done
|
||||
depend: $(foreach SDIR, $(INSTALLED_DIRS), $(SDIR)_depend)
|
||||
|
||||
clean:
|
||||
@for dir in $(INSTALLED_DIRS) ; do \
|
||||
$(MAKE) -C $$dir clean TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"; \
|
||||
done
|
||||
clean: $(foreach SDIR, $(INSTALLED_DIRS), $(SDIR)_clean)
|
||||
|
||||
distclean: clean
|
||||
@for dir in $(INSTALLED_DIRS) ; do \
|
||||
$(MAKE) -C $$dir distclean TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"; \
|
||||
done
|
||||
distclean: clean $(foreach SDIR, $(INSTALLED_DIRS), $(SDIR)_distclean)
|
||||
|
|
|
@ -3,7 +3,7 @@
|
|||
# see misc/tools/kconfig-language.txt.
|
||||
#
|
||||
|
||||
config FICL
|
||||
config INTERPRETERS_FICL
|
||||
bool "Ficl Forth interpreter"
|
||||
default n
|
||||
---help---
|
||||
|
@ -11,6 +11,6 @@ config FICL
|
|||
apps/interpreters/ficl directory. Use of this configuration assumes
|
||||
that you have performed the required installation of the Ficl run-time code.
|
||||
|
||||
if FICL
|
||||
if INTERPRETERS_FICL
|
||||
endif
|
||||
|
||||
|
|
|
@ -1,7 +1,7 @@
|
|||
############################################################################
|
||||
# apps/interpreters/ficl/Makefile
|
||||
#
|
||||
# Copyright (C) 2011 Gregory Nutt. All rights reserved.
|
||||
# Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
|
||||
# Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
|
@ -35,14 +35,11 @@
|
|||
|
||||
BUILDDIR := ${shell pwd | sed -e 's/ /\\ /g'}
|
||||
|
||||
-include $(TOPDIR)/.config
|
||||
-include $(TOPDIR)/Make.defs
|
||||
include $(APPDIR)/Make.defs
|
||||
|
||||
# Tools
|
||||
|
||||
INCDIR = $(TOPDIR)/tools/incdir.sh
|
||||
|
||||
ifeq ($(WINTOOL),y)
|
||||
INCDIROPT = -w
|
||||
endif
|
||||
|
@ -69,10 +66,14 @@ COBJS = $(CSRCS:.c=$(OBJEXT))
|
|||
SRCS = $(ASRCS) $(CSRCS)
|
||||
OBJS = $(AOBJS) $(COBJS)
|
||||
|
||||
ifeq ($(WINTOOL),y)
|
||||
BIN = "${shell cygpath -w $(APPDIR)/libapps$(LIBEXT)}"
|
||||
ifeq ($(CONFIG_WINDOWS_NATIVE),y)
|
||||
BIN = ..\..\libapps$(LIBEXT)
|
||||
else
|
||||
BIN = "$(APPDIR)/libapps$(LIBEXT)"
|
||||
ifeq ($(WINTOOL),y)
|
||||
BIN = ..\\..\\libapps$(LIBEXT)
|
||||
else
|
||||
BIN = ../../libapps$(LIBEXT)
|
||||
endif
|
||||
endif
|
||||
|
||||
ROOT_DEPPATH = --dep-path .
|
||||
|
@ -95,24 +96,24 @@ debug:
|
|||
@#echo "CFLAGS: $(CFLAGS)"
|
||||
|
||||
.built: debug $(OBJS)
|
||||
@( for obj in $(OBJS) ; do \
|
||||
$(call ARCHIVE, $(BIN), $${obj}); \
|
||||
done ; )
|
||||
@touch .built
|
||||
$(call ARCHIVE, $(BIN), $(OBJS))
|
||||
$(Q) touch .built
|
||||
|
||||
context:
|
||||
|
||||
.depend: debug Makefile $(SRCS)
|
||||
@$(MKDEP) $(ROOT_DEPPATH) $(SRC_DEPPATH) $(FICL_DEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
@touch $@
|
||||
$(Q) $(MKDEP) $(ROOT_DEPPATH) $(SRC_DEPPATH) $(FICL_DEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
$(Q) touch $@
|
||||
|
||||
depend: .depend
|
||||
|
||||
clean:
|
||||
@rm -f *.o *~ .*.swp .built
|
||||
$(call DELFILE, .context)
|
||||
$(call DELFILE, .built)
|
||||
$(call CLEAN)
|
||||
|
||||
distclean: clean
|
||||
@rm -f Make.dep .depend
|
||||
$(call DELFILE, Make.dep)
|
||||
$(call DELFILE, .depend)
|
||||
|
||||
-include Make.dep
|
||||
|
|
|
@ -5520,7 +5520,7 @@ extern "C"
|
|||
*pIa = Ialpha;
|
||||
|
||||
/* Calculating pIb from Ialpha and Ibeta by equation pIb = -(1/2) * Ialpha + (sqrt(3)/2) * Ibeta */
|
||||
*pIb = -0.5 * Ialpha + (float32_t) 0.8660254039 *Ibeta;
|
||||
*pIb = -0.5f * Ialpha + (float32_t) 0.8660254039f *Ibeta;
|
||||
|
||||
}
|
||||
|
||||
|
@ -5898,7 +5898,7 @@ extern "C"
|
|||
/* Iniatilize output for below specified range as least output value of table */
|
||||
y = pYData[0];
|
||||
}
|
||||
else if(i >= S->nValues)
|
||||
else if((unsigned)i >= S->nValues)
|
||||
{
|
||||
/* Iniatilize output for above specified range as last output value of table */
|
||||
y = pYData[S->nValues - 1];
|
||||
|
|
|
@ -45,6 +45,13 @@ INCLUDES += $(DSPLIB_SRCDIR)/Include \
|
|||
$(DSPLIB_SRCDIR)/Device/ARM/ARMCM4/Include \
|
||||
$(DSPLIB_SRCDIR)/Device/ARM/ARMCM3/Include
|
||||
|
||||
# Suppress some warnings that ARM should fix, but haven't.
|
||||
EXTRADEFINES += -Wno-unsuffixed-float-constants \
|
||||
-Wno-sign-compare \
|
||||
-Wno-shadow \
|
||||
-Wno-float-equal \
|
||||
-Wno-unused-variable
|
||||
|
||||
#
|
||||
# Override the default visibility for symbols, since the CMSIS DSPLib doesn't
|
||||
# have anything we can use to mark exported symbols.
|
||||
|
|
|
@ -31,8 +31,6 @@
|
|||
#
|
||||
############################################################################
|
||||
|
||||
include $(TOPDIR)/.config
|
||||
|
||||
#
|
||||
# Math library
|
||||
#
|
||||
|
@ -44,27 +42,21 @@ CXXSRCS = math/test/test.cpp \
|
|||
math/Dcm.cpp \
|
||||
math/Matrix.cpp
|
||||
|
||||
CXXHDRS = math/test/test.hpp \
|
||||
math/Vector.hpp \
|
||||
math/Vector3.hpp \
|
||||
math/EulerAngles.hpp \
|
||||
math/Quaternion.hpp \
|
||||
math/Dcm.hpp \
|
||||
math/Matrix.hpp
|
||||
#
|
||||
# In order to include .config we first have to save off the
|
||||
# current makefile name, since app.mk needs it.
|
||||
#
|
||||
APP_MAKEFILE := $(lastword $(MAKEFILE_LIST))
|
||||
-include $(TOPDIR)/.config
|
||||
|
||||
# XXX this really should be a CONFIG_* test
|
||||
ifeq ($(CONFIG_ARCH_CORTEXM4)$(CONFIG_ARCH_FPU),yy)
|
||||
INCLUDES += math/arm
|
||||
CXXSRCS += math/arm/Vector.cpp \
|
||||
math/arm/Matrix.cpp
|
||||
CXXHDRS += math/arm/Vector.hpp \
|
||||
math/arm/Matrix.hpp
|
||||
else
|
||||
INCLUDES += math/generic
|
||||
CXXSRCS += math/generic/Vector.cpp \
|
||||
math/generic/Matrix.cpp
|
||||
CXXHDRS += math/generic/Vector.hpp \
|
||||
math/generic/Matrix.hpp
|
||||
endif
|
||||
|
||||
include $(APPDIR)/mk/app.mk
|
||||
|
|
|
@ -52,6 +52,23 @@ Dcm::Dcm() :
|
|||
{
|
||||
}
|
||||
|
||||
Dcm::Dcm(float c00, float c01, float c02,
|
||||
float c10, float c11, float c12,
|
||||
float c20, float c21, float c22) :
|
||||
Matrix(3, 3)
|
||||
{
|
||||
Dcm &dcm = *this;
|
||||
dcm(0, 0) = c00;
|
||||
dcm(0, 1) = c01;
|
||||
dcm(0, 2) = c02;
|
||||
dcm(1, 0) = c10;
|
||||
dcm(1, 1) = c11;
|
||||
dcm(1, 2) = c12;
|
||||
dcm(2, 0) = c20;
|
||||
dcm(2, 1) = c21;
|
||||
dcm(2, 2) = c22;
|
||||
}
|
||||
|
||||
Dcm::Dcm(const float *data) :
|
||||
Matrix(3, 3, data)
|
||||
{
|
||||
|
@ -61,22 +78,22 @@ Dcm::Dcm(const Quaternion &q) :
|
|||
Matrix(3, 3)
|
||||
{
|
||||
Dcm &dcm = *this;
|
||||
float a = q.getA();
|
||||
float b = q.getB();
|
||||
float c = q.getC();
|
||||
float d = q.getD();
|
||||
float aSq = a * a;
|
||||
float bSq = b * b;
|
||||
float cSq = c * c;
|
||||
float dSq = d * d;
|
||||
double a = q.getA();
|
||||
double b = q.getB();
|
||||
double c = q.getC();
|
||||
double d = q.getD();
|
||||
double aSq = a * a;
|
||||
double bSq = b * b;
|
||||
double cSq = c * c;
|
||||
double dSq = d * d;
|
||||
dcm(0, 0) = aSq + bSq - cSq - dSq;
|
||||
dcm(0, 1) = 2 * (b * c - a * d);
|
||||
dcm(0, 2) = 2 * (a * c + b * d);
|
||||
dcm(1, 0) = 2 * (b * c + a * d);
|
||||
dcm(0, 1) = 2.0 * (b * c - a * d);
|
||||
dcm(0, 2) = 2.0 * (a * c + b * d);
|
||||
dcm(1, 0) = 2.0 * (b * c + a * d);
|
||||
dcm(1, 1) = aSq - bSq + cSq - dSq;
|
||||
dcm(1, 2) = 2 * (c * d - a * b);
|
||||
dcm(2, 0) = 2 * (b * d - a * c);
|
||||
dcm(2, 1) = 2 * (a * b + c * d);
|
||||
dcm(1, 2) = 2.0 * (c * d - a * b);
|
||||
dcm(2, 0) = 2.0 * (b * d - a * c);
|
||||
dcm(2, 1) = 2.0 * (a * b + c * d);
|
||||
dcm(2, 2) = aSq - bSq - cSq + dSq;
|
||||
}
|
||||
|
||||
|
@ -84,12 +101,12 @@ Dcm::Dcm(const EulerAngles &euler) :
|
|||
Matrix(3, 3)
|
||||
{
|
||||
Dcm &dcm = *this;
|
||||
float cosPhi = cosf(euler.getPhi());
|
||||
float sinPhi = sinf(euler.getPhi());
|
||||
float cosThe = cosf(euler.getTheta());
|
||||
float sinThe = sinf(euler.getTheta());
|
||||
float cosPsi = cosf(euler.getPsi());
|
||||
float sinPsi = sinf(euler.getPsi());
|
||||
double cosPhi = cos(euler.getPhi());
|
||||
double sinPhi = sin(euler.getPhi());
|
||||
double cosThe = cos(euler.getTheta());
|
||||
double sinThe = sin(euler.getTheta());
|
||||
double cosPsi = cos(euler.getPsi());
|
||||
double sinPsi = sin(euler.getPsi());
|
||||
|
||||
dcm(0, 0) = cosThe * cosPsi;
|
||||
dcm(0, 1) = -cosPhi * sinPsi + sinPhi * sinThe * cosPsi;
|
||||
|
@ -116,18 +133,30 @@ Dcm::~Dcm()
|
|||
int __EXPORT dcmTest()
|
||||
{
|
||||
printf("Test DCM\t\t: ");
|
||||
// default ctor
|
||||
ASSERT(matrixEqual(Dcm(),
|
||||
Matrix::identity(3)));
|
||||
// quaternion ctor
|
||||
ASSERT(matrixEqual(
|
||||
Dcm(Quaternion(0.983347f, 0.034271f, 0.106021f, 0.143572f)),
|
||||
Dcm(0.9362934f, -0.2750958f, 0.2183507f,
|
||||
0.2896295f, 0.9564251f, -0.0369570f,
|
||||
-0.1986693f, 0.0978434f, 0.9751703f)));
|
||||
// euler angle ctor
|
||||
ASSERT(matrixEqual(
|
||||
Dcm(EulerAngles(0.1f, 0.2f, 0.3f)),
|
||||
Dcm(0.9362934f, -0.2750958f, 0.2183507f,
|
||||
0.2896295f, 0.9564251f, -0.0369570f,
|
||||
-0.1986693f, 0.0978434f, 0.9751703f)));
|
||||
// rotations
|
||||
Vector3 vB(1, 2, 3);
|
||||
ASSERT(matrixEqual(Dcm(Quaternion(1, 0, 0, 0)),
|
||||
Matrix::identity(3)));
|
||||
ASSERT(matrixEqual(Dcm(EulerAngles(0, 0, 0)),
|
||||
Matrix::identity(3)));
|
||||
ASSERT(vectorEqual(Vector3(-2, 1, 3),
|
||||
Dcm(EulerAngles(0, 0, M_PI_2_F))*vB));
|
||||
ASSERT(vectorEqual(Vector3(3, 2, -1),
|
||||
Dcm(EulerAngles(0, M_PI_2_F, 0))*vB));
|
||||
ASSERT(vectorEqual(Vector3(1, -3, 2),
|
||||
Dcm(EulerAngles(M_PI_2_F, 0, 0))*vB));
|
||||
ASSERT(vectorEqual(Vector3(3, 2, -1),
|
||||
ASSERT(vectorEqual(Vector3(-2.0f, 1.0f, 3.0f),
|
||||
Dcm(EulerAngles(0.0f, 0.0f, M_PI_2_F))*vB));
|
||||
ASSERT(vectorEqual(Vector3(3.0f, 2.0f, -1.0f),
|
||||
Dcm(EulerAngles(0.0f, M_PI_2_F, 0.0f))*vB));
|
||||
ASSERT(vectorEqual(Vector3(1.0f, -3.0f, 2.0f),
|
||||
Dcm(EulerAngles(M_PI_2_F, 0.0f, 0.0f))*vB));
|
||||
ASSERT(vectorEqual(Vector3(3.0f, 2.0f, -1.0f),
|
||||
Dcm(EulerAngles(
|
||||
M_PI_2_F, M_PI_2_F, M_PI_2_F))*vB));
|
||||
printf("PASS\n");
|
||||
|
|
|
@ -64,6 +64,13 @@ public:
|
|||
*/
|
||||
Dcm();
|
||||
|
||||
/**
|
||||
* scalar ctor
|
||||
*/
|
||||
Dcm(float c00, float c01, float c02,
|
||||
float c10, float c11, float c12,
|
||||
float c20, float c21, float c22);
|
||||
|
||||
/**
|
||||
* data ctor
|
||||
*/
|
||||
|
|
|
@ -97,23 +97,27 @@ EulerAngles::~EulerAngles()
|
|||
int __EXPORT eulerAnglesTest()
|
||||
{
|
||||
printf("Test EulerAngles\t: ");
|
||||
EulerAngles euler(1, 2, 3);
|
||||
EulerAngles euler(0.1f, 0.2f, 0.3f);
|
||||
|
||||
// test ctor
|
||||
ASSERT(vectorEqual(Vector3(1, 2, 3), euler));
|
||||
ASSERT(equal(euler.getPhi(), 1));
|
||||
ASSERT(equal(euler.getTheta(), 2));
|
||||
ASSERT(equal(euler.getPsi(), 3));
|
||||
ASSERT(vectorEqual(Vector3(0.1f, 0.2f, 0.3f), euler));
|
||||
ASSERT(equal(euler.getPhi(), 0.1f));
|
||||
ASSERT(equal(euler.getTheta(), 0.2f));
|
||||
ASSERT(equal(euler.getPsi(), 0.3f));
|
||||
|
||||
// test dcm ctor
|
||||
euler = Dcm(EulerAngles(0.1f, 0.2f, 0.3f));
|
||||
ASSERT(vectorEqual(Vector3(0.1f, 0.2f, 0.3f), euler));
|
||||
|
||||
// test quat ctor
|
||||
euler = Quaternion(EulerAngles(0.1f, 0.2f, 0.3f));
|
||||
ASSERT(vectorEqual(Vector3(0.1f, 0.2f, 0.3f), euler));
|
||||
|
||||
// test assignment
|
||||
euler.setPhi(4);
|
||||
ASSERT(equal(euler.getPhi(), 4));
|
||||
euler.setTheta(5);
|
||||
ASSERT(equal(euler.getTheta(), 5));
|
||||
euler.setPsi(6);
|
||||
ASSERT(equal(euler.getPsi(), 6));
|
||||
euler.setPhi(0.4f);
|
||||
euler.setTheta(0.5f);
|
||||
euler.setPsi(0.6f);
|
||||
ASSERT(vectorEqual(Vector3(0.4f, 0.5f, 0.6f), euler));
|
||||
|
||||
printf("PASS\n");
|
||||
return 0;
|
||||
|
|
|
@ -79,32 +79,34 @@ Quaternion::Quaternion(const Vector &v) :
|
|||
Quaternion::Quaternion(const Dcm &dcm) :
|
||||
Vector(4)
|
||||
{
|
||||
setA(0.5f * sqrtf(1 + dcm(0, 0) +
|
||||
dcm(1, 1) + dcm(2, 2)));
|
||||
setB((dcm(2, 1) - dcm(1, 2)) /
|
||||
(4 * getA()));
|
||||
setC((dcm(0, 2) - dcm(2, 0)) /
|
||||
(4 * getA()));
|
||||
setD((dcm(1, 0) - dcm(0, 1)) /
|
||||
(4 * getA()));
|
||||
// avoiding singularities by not using
|
||||
// division equations
|
||||
setA(0.5 * sqrt(1.0 +
|
||||
double(dcm(0, 0) + dcm(1, 1) + dcm(2, 2))));
|
||||
setB(0.5 * sqrt(1.0 +
|
||||
double(dcm(0, 0) - dcm(1, 1) - dcm(2, 2))));
|
||||
setC(0.5 * sqrt(1.0 +
|
||||
double(-dcm(0, 0) + dcm(1, 1) - dcm(2, 2))));
|
||||
setD(0.5 * sqrt(1.0 +
|
||||
double(-dcm(0, 0) - dcm(1, 1) + dcm(2, 2))));
|
||||
}
|
||||
|
||||
Quaternion::Quaternion(const EulerAngles &euler) :
|
||||
Vector(4)
|
||||
{
|
||||
float cosPhi_2 = cosf(euler.getPhi() / 2.0f);
|
||||
float cosTheta_2 = cosf(euler.getTheta() / 2.0f);
|
||||
float cosPsi_2 = cosf(euler.getPsi() / 2.0f);
|
||||
float sinPhi_2 = sinf(euler.getPhi() / 2.0f);
|
||||
float sinTheta_2 = sinf(euler.getTheta() / 2.0f);
|
||||
float sinPsi_2 = sinf(euler.getPsi() / 2.0f);
|
||||
double cosPhi_2 = cos(double(euler.getPhi()) / 2.0);
|
||||
double sinPhi_2 = sin(double(euler.getPhi()) / 2.0);
|
||||
double cosTheta_2 = cos(double(euler.getTheta()) / 2.0);
|
||||
double sinTheta_2 = sin(double(euler.getTheta()) / 2.0);
|
||||
double cosPsi_2 = cos(double(euler.getPsi()) / 2.0);
|
||||
double sinPsi_2 = sin(double(euler.getPsi()) / 2.0);
|
||||
setA(cosPhi_2 * cosTheta_2 * cosPsi_2 +
|
||||
sinPhi_2 * sinTheta_2 * sinPsi_2);
|
||||
setB(sinPhi_2 * cosTheta_2 * cosPsi_2 -
|
||||
cosPhi_2 * sinTheta_2 * sinPsi_2);
|
||||
setC(cosPhi_2 * sinTheta_2 * cosPsi_2 +
|
||||
sinPhi_2 * cosTheta_2 * sinPsi_2);
|
||||
setD(cosPhi_2 * cosTheta_2 * sinPsi_2 +
|
||||
setD(cosPhi_2 * cosTheta_2 * sinPsi_2 -
|
||||
sinPhi_2 * sinTheta_2 * cosPsi_2);
|
||||
}
|
||||
|
||||
|
@ -142,38 +144,29 @@ int __EXPORT quaternionTest()
|
|||
printf("Test Quaternion\t\t: ");
|
||||
// test default ctor
|
||||
Quaternion q;
|
||||
ASSERT(equal(q.getA(), 1));
|
||||
ASSERT(equal(q.getB(), 0));
|
||||
ASSERT(equal(q.getC(), 0));
|
||||
ASSERT(equal(q.getD(), 0));
|
||||
ASSERT(equal(q.getA(), 1.0f));
|
||||
ASSERT(equal(q.getB(), 0.0f));
|
||||
ASSERT(equal(q.getC(), 0.0f));
|
||||
ASSERT(equal(q.getD(), 0.0f));
|
||||
// test float ctor
|
||||
q = Quaternion(0, 1, 0, 0);
|
||||
ASSERT(equal(q.getA(), 0));
|
||||
ASSERT(equal(q.getB(), 1));
|
||||
ASSERT(equal(q.getC(), 0));
|
||||
ASSERT(equal(q.getD(), 0));
|
||||
q = Quaternion(0.1825742f, 0.3651484f, 0.5477226f, 0.7302967f);
|
||||
ASSERT(equal(q.getA(), 0.1825742f));
|
||||
ASSERT(equal(q.getB(), 0.3651484f));
|
||||
ASSERT(equal(q.getC(), 0.5477226f));
|
||||
ASSERT(equal(q.getD(), 0.7302967f));
|
||||
// test euler ctor
|
||||
q = Quaternion(EulerAngles(0, 0, 0));
|
||||
ASSERT(equal(q.getA(), 1));
|
||||
ASSERT(equal(q.getB(), 0));
|
||||
ASSERT(equal(q.getC(), 0));
|
||||
ASSERT(equal(q.getD(), 0));
|
||||
q = Quaternion(EulerAngles(0.1f, 0.2f, 0.3f));
|
||||
ASSERT(vectorEqual(q, Quaternion(0.983347f, 0.034271f, 0.106021f, 0.143572f)));
|
||||
// test dcm ctor
|
||||
q = Quaternion(Dcm());
|
||||
ASSERT(equal(q.getA(), 1));
|
||||
ASSERT(equal(q.getB(), 0));
|
||||
ASSERT(equal(q.getC(), 0));
|
||||
ASSERT(equal(q.getD(), 0));
|
||||
ASSERT(vectorEqual(q, Quaternion(1.0f, 0.0f, 0.0f, 0.0f)));
|
||||
// TODO test derivative
|
||||
// test accessors
|
||||
q.setA(0.1);
|
||||
q.setB(0.2);
|
||||
q.setC(0.3);
|
||||
q.setD(0.4);
|
||||
ASSERT(equal(q.getA(), 0.1));
|
||||
ASSERT(equal(q.getB(), 0.2));
|
||||
ASSERT(equal(q.getC(), 0.3));
|
||||
ASSERT(equal(q.getD(), 0.4));
|
||||
q.setA(0.1f);
|
||||
q.setB(0.2f);
|
||||
q.setC(0.3f);
|
||||
q.setD(0.4f);
|
||||
ASSERT(vectorEqual(q, Quaternion(0.1f, 0.2f, 0.3f, 0.4f)));
|
||||
printf("PASS\n");
|
||||
return 0;
|
||||
}
|
||||
|
|
Binary file not shown.
|
@ -0,0 +1,63 @@
|
|||
clc
|
||||
clear
|
||||
function out = float_truncate(in, digits)
|
||||
out = round(in*10^digits)
|
||||
out = out/10^digits
|
||||
endfunction
|
||||
|
||||
phi = 0.1
|
||||
theta = 0.2
|
||||
psi = 0.3
|
||||
|
||||
cosPhi = cos(phi)
|
||||
cosPhi_2 = cos(phi/2)
|
||||
sinPhi = sin(phi)
|
||||
sinPhi_2 = sin(phi/2)
|
||||
|
||||
cosTheta = cos(theta)
|
||||
cosTheta_2 = cos(theta/2)
|
||||
sinTheta = sin(theta)
|
||||
sinTheta_2 = sin(theta/2)
|
||||
|
||||
cosPsi = cos(psi)
|
||||
cosPsi_2 = cos(psi/2)
|
||||
sinPsi = sin(psi)
|
||||
sinPsi_2 = sin(psi/2)
|
||||
|
||||
C_nb = [cosTheta*cosPsi, -cosPhi*sinPsi + sinPhi*sinTheta*cosPsi, sinPhi*sinPsi + cosPhi*sinTheta*cosPsi;
|
||||
cosTheta*sinPsi, cosPhi*cosPsi + sinPhi*sinTheta*sinPsi, -sinPhi*cosPsi + cosPhi*sinTheta*sinPsi;
|
||||
-sinTheta, sinPhi*cosTheta, cosPhi*cosTheta]
|
||||
|
||||
disp(C_nb)
|
||||
//C_nb = float_truncate(C_nb,3)
|
||||
//disp(C_nb)
|
||||
|
||||
theta = asin(-C_nb(3,1))
|
||||
phi = atan(C_nb(3,2), C_nb(3,3))
|
||||
psi = atan(C_nb(2,1), C_nb(1,1))
|
||||
printf('phi %f\n', phi)
|
||||
printf('theta %f\n', theta)
|
||||
printf('psi %f\n', psi)
|
||||
|
||||
q = [cosPhi_2*cosTheta_2*cosPsi_2 + sinPhi_2*sinTheta_2*sinPsi_2;
|
||||
sinPhi_2*cosTheta_2*cosPsi_2 - cosPhi_2*sinTheta_2*sinPsi_2;
|
||||
cosPhi_2*sinTheta_2*cosPsi_2 + sinPhi_2*cosTheta_2*sinPsi_2;
|
||||
cosPhi_2*cosTheta_2*sinPsi_2 - sinPhi_2*sinTheta_2*cosPsi_2]
|
||||
|
||||
//q = float_truncate(q,3)
|
||||
|
||||
a = q(1)
|
||||
b = q(2)
|
||||
c = q(3)
|
||||
d = q(4)
|
||||
printf('q: %f %f %f %f\n', a, b, c, d)
|
||||
a2 = a*a
|
||||
b2 = b*b
|
||||
c2 = c*c
|
||||
d2 = d*d
|
||||
|
||||
C2_nb = [a2 + b2 - c2 - d2, 2*(b*c - a*d), 2*(b*d + a*c);
|
||||
2*(b*c + a*d), a2 - b2 + c2 - d2, 2*(c*d - a*b);
|
||||
2*(b*d - a*c), 2*(c*d + a*b), a2 - b2 - c2 + d2]
|
||||
|
||||
disp(C2_nb)
|
|
@ -77,7 +77,7 @@
|
|||
/* define MAVLink specific parameters */
|
||||
PARAM_DEFINE_INT32(MAV_SYS_ID, 1);
|
||||
PARAM_DEFINE_INT32(MAV_COMP_ID, 50);
|
||||
PARAM_DEFINE_INT32(MAV_TYPE, MAV_TYPE_QUADROTOR);
|
||||
PARAM_DEFINE_INT32(MAV_TYPE, MAV_TYPE_FIXED_WING);
|
||||
|
||||
__EXPORT int mavlink_main(int argc, char *argv[]);
|
||||
|
||||
|
@ -98,7 +98,7 @@ static bool mavlink_link_termination_allowed = false;
|
|||
mavlink_system_t mavlink_system = {
|
||||
100,
|
||||
50,
|
||||
MAV_TYPE_QUADROTOR,
|
||||
MAV_TYPE_FIXED_WING,
|
||||
0,
|
||||
0,
|
||||
0
|
||||
|
@ -148,6 +148,10 @@ set_hil_on_off(bool hil_enabled)
|
|||
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);
|
||||
|
||||
/* sensore level hil */
|
||||
pub_hil_sensors = orb_advertise(ORB_ID(sensor_combined), &hil_sensors);
|
||||
pub_hil_gps = orb_advertise(ORB_ID(vehicle_gps_position), &hil_gps);
|
||||
|
||||
mavlink_hil_enabled = true;
|
||||
|
||||
/* ramp up some HIL-related subscriptions */
|
||||
|
|
|
@ -43,8 +43,12 @@ extern bool mavlink_hil_enabled;
|
|||
|
||||
extern struct vehicle_global_position_s hil_global_pos;
|
||||
extern struct vehicle_attitude_s hil_attitude;
|
||||
extern struct sensor_combined_s hil_sensors;
|
||||
extern struct vehicle_gps_position_s hil_gps;
|
||||
extern orb_advert_t pub_hil_global_pos;
|
||||
extern orb_advert_t pub_hil_attitude;
|
||||
extern orb_advert_t pub_hil_sensors;
|
||||
extern orb_advert_t pub_hil_gps;
|
||||
|
||||
/**
|
||||
* Enable / disable Hardware in the Loop simulation mode.
|
||||
|
@ -54,4 +58,4 @@ extern orb_advert_t pub_hil_attitude;
|
|||
* requested change could not be made or was
|
||||
* redundant.
|
||||
*/
|
||||
extern int set_hil_on_off(bool hil_enabled);
|
||||
extern int set_hil_on_off(bool hil_enabled);
|
||||
|
|
|
@ -86,8 +86,12 @@ static struct offboard_control_setpoint_s offboard_control_sp;
|
|||
|
||||
struct vehicle_global_position_s hil_global_pos;
|
||||
struct vehicle_attitude_s hil_attitude;
|
||||
struct vehicle_gps_position_s hil_gps;
|
||||
struct sensor_combined_s hil_sensors;
|
||||
orb_advert_t pub_hil_global_pos = -1;
|
||||
orb_advert_t pub_hil_attitude = -1;
|
||||
orb_advert_t pub_hil_gps = -1;
|
||||
orb_advert_t pub_hil_sensors = -1;
|
||||
|
||||
static orb_advert_t cmd_pub = -1;
|
||||
static orb_advert_t flow_pub = -1;
|
||||
|
@ -302,6 +306,166 @@ handle_message(mavlink_message_t *msg)
|
|||
|
||||
if (mavlink_hil_enabled) {
|
||||
|
||||
uint64_t timestamp = hrt_absolute_time();
|
||||
|
||||
if (msg->msgid == MAVLINK_MSG_ID_RAW_IMU) {
|
||||
|
||||
mavlink_raw_imu_t imu;
|
||||
mavlink_msg_raw_imu_decode(msg, &imu);
|
||||
|
||||
/* packet counter */
|
||||
static uint16_t hil_counter = 0;
|
||||
static uint16_t hil_frames = 0;
|
||||
static uint64_t old_timestamp = 0;
|
||||
|
||||
/* sensors general */
|
||||
hil_sensors.timestamp = imu.time_usec;
|
||||
|
||||
/* hil gyro */
|
||||
static const float mrad2rad = 1.0e-3f;
|
||||
hil_sensors.gyro_counter = hil_counter;
|
||||
hil_sensors.gyro_raw[0] = imu.xgyro;
|
||||
hil_sensors.gyro_raw[1] = imu.ygyro;
|
||||
hil_sensors.gyro_raw[2] = imu.zgyro;
|
||||
hil_sensors.gyro_rad_s[0] = imu.xgyro * mrad2rad;
|
||||
hil_sensors.gyro_rad_s[1] = imu.ygyro * mrad2rad;
|
||||
hil_sensors.gyro_rad_s[2] = imu.zgyro * mrad2rad;
|
||||
|
||||
/* accelerometer */
|
||||
hil_sensors.accelerometer_counter = hil_counter;
|
||||
static const float mg2ms2 = 9.8f / 1000.0f;
|
||||
hil_sensors.accelerometer_raw[0] = imu.xacc;
|
||||
hil_sensors.accelerometer_raw[1] = imu.yacc;
|
||||
hil_sensors.accelerometer_raw[2] = imu.zacc;
|
||||
hil_sensors.accelerometer_m_s2[0] = mg2ms2 * imu.xacc;
|
||||
hil_sensors.accelerometer_m_s2[1] = mg2ms2 * imu.yacc;
|
||||
hil_sensors.accelerometer_m_s2[2] = mg2ms2 * imu.zacc;
|
||||
hil_sensors.accelerometer_mode = 0; // TODO what is this?
|
||||
hil_sensors.accelerometer_range_m_s2 = 32.7f; // int16
|
||||
|
||||
/* adc */
|
||||
hil_sensors.adc_voltage_v[0] = 0;
|
||||
hil_sensors.adc_voltage_v[1] = 0;
|
||||
hil_sensors.adc_voltage_v[2] = 0;
|
||||
|
||||
/* magnetometer */
|
||||
float mga2ga = 1.0e-3f;
|
||||
hil_sensors.magnetometer_counter = hil_counter;
|
||||
hil_sensors.magnetometer_raw[0] = imu.xmag;
|
||||
hil_sensors.magnetometer_raw[1] = imu.ymag;
|
||||
hil_sensors.magnetometer_raw[2] = imu.zmag;
|
||||
hil_sensors.magnetometer_ga[0] = imu.xmag * mga2ga;
|
||||
hil_sensors.magnetometer_ga[1] = imu.ymag * mga2ga;
|
||||
hil_sensors.magnetometer_ga[2] = imu.zmag * mga2ga;
|
||||
hil_sensors.magnetometer_range_ga = 32.7f; // int16
|
||||
hil_sensors.magnetometer_mode = 0; // TODO what is this
|
||||
hil_sensors.magnetometer_cuttoff_freq_hz = 50.0f;
|
||||
|
||||
/* publish */
|
||||
orb_publish(ORB_ID(sensor_combined), pub_hil_sensors, &hil_sensors);
|
||||
|
||||
// increment counters
|
||||
hil_counter += 1 ;
|
||||
hil_frames += 1 ;
|
||||
|
||||
// output
|
||||
if ((timestamp - old_timestamp) > 10000000) {
|
||||
printf("receiving hil imu at %d hz\n", hil_frames/10);
|
||||
old_timestamp = timestamp;
|
||||
hil_frames = 0;
|
||||
}
|
||||
}
|
||||
|
||||
if (msg->msgid == MAVLINK_MSG_ID_GPS_RAW_INT) {
|
||||
|
||||
mavlink_gps_raw_int_t gps;
|
||||
mavlink_msg_gps_raw_int_decode(msg, &gps);
|
||||
|
||||
/* packet counter */
|
||||
static uint16_t hil_counter = 0;
|
||||
static uint16_t hil_frames = 0;
|
||||
static uint64_t old_timestamp = 0;
|
||||
|
||||
/* gps */
|
||||
hil_gps.timestamp = gps.time_usec;
|
||||
hil_gps.counter = hil_counter++;
|
||||
hil_gps.time_gps_usec = gps.time_usec;
|
||||
hil_gps.lat = gps.lat;
|
||||
hil_gps.lon = gps.lon;
|
||||
hil_gps.alt = gps.alt;
|
||||
hil_gps.counter_pos_valid = hil_counter++;
|
||||
hil_gps.eph = gps.eph;
|
||||
hil_gps.epv = gps.epv;
|
||||
hil_gps.s_variance = 100;
|
||||
hil_gps.p_variance = 100;
|
||||
hil_gps.vel = gps.vel;
|
||||
hil_gps.vel_n = gps.vel / 100.0f * cosf(gps.cog / M_RAD_TO_DEG_F / 100.0f);
|
||||
hil_gps.vel_e = gps.vel / 100.0f * sinf(gps.cog / M_RAD_TO_DEG_F / 100.0f);
|
||||
hil_gps.vel_d = 0.0f;
|
||||
hil_gps.cog = gps.cog;
|
||||
hil_gps.fix_type = gps.fix_type;
|
||||
hil_gps.satellites_visible = gps.satellites_visible;
|
||||
|
||||
/* publish */
|
||||
orb_publish(ORB_ID(vehicle_gps_position), pub_hil_gps, &hil_gps);
|
||||
|
||||
// increment counters
|
||||
hil_counter += 1 ;
|
||||
hil_frames += 1 ;
|
||||
|
||||
// output
|
||||
if ((timestamp - old_timestamp) > 10000000) {
|
||||
printf("receiving hil gps at %d hz\n", hil_frames/10);
|
||||
old_timestamp = timestamp;
|
||||
hil_frames = 0;
|
||||
}
|
||||
}
|
||||
|
||||
if (msg->msgid == MAVLINK_MSG_ID_RAW_PRESSURE) {
|
||||
|
||||
mavlink_raw_pressure_t press;
|
||||
mavlink_msg_raw_pressure_decode(msg, &press);
|
||||
|
||||
/* packet counter */
|
||||
static uint16_t hil_counter = 0;
|
||||
static uint16_t hil_frames = 0;
|
||||
static uint64_t old_timestamp = 0;
|
||||
|
||||
/* sensors general */
|
||||
hil_sensors.timestamp = press.time_usec;
|
||||
|
||||
/* baro */
|
||||
/* TODO, set ground_press/ temp during calib */
|
||||
static const float ground_press = 1013.25f; // mbar
|
||||
static const float ground_tempC = 21.0f;
|
||||
static const float ground_alt = 0.0f;
|
||||
static const float T0 = 273.15;
|
||||
static const float R = 287.05f;
|
||||
static const float g = 9.806f;
|
||||
|
||||
float tempC = press.temperature / 100.0f;
|
||||
float tempAvgK = T0 + (tempC + ground_tempC) / 2.0f;
|
||||
float h = ground_alt + (R / g) * tempAvgK * logf(ground_press / press.press_abs);
|
||||
hil_sensors.baro_counter = hil_counter;
|
||||
hil_sensors.baro_pres_mbar = press.press_abs;
|
||||
hil_sensors.baro_alt_meter = h;
|
||||
hil_sensors.baro_temp_celcius = tempC;
|
||||
|
||||
/* publish */
|
||||
orb_publish(ORB_ID(sensor_combined), pub_hil_sensors, &hil_sensors);
|
||||
|
||||
// increment counters
|
||||
hil_counter += 1 ;
|
||||
hil_frames += 1 ;
|
||||
|
||||
// output
|
||||
if ((timestamp - old_timestamp) > 10000000) {
|
||||
printf("receiving hil pressure at %d hz\n", hil_frames/10);
|
||||
old_timestamp = timestamp;
|
||||
hil_frames = 0;
|
||||
}
|
||||
}
|
||||
|
||||
if (msg->msgid == MAVLINK_MSG_ID_HIL_STATE) {
|
||||
|
||||
mavlink_hil_state_t hil_state;
|
||||
|
@ -412,7 +576,7 @@ receive_thread(void *arg)
|
|||
int uart_fd = *((int *)arg);
|
||||
|
||||
const int timeout = 1000;
|
||||
uint8_t ch;
|
||||
uint8_t buf[32];
|
||||
|
||||
mavlink_message_t msg;
|
||||
|
||||
|
@ -423,13 +587,12 @@ receive_thread(void *arg)
|
|||
struct pollfd fds[] = { { .fd = uart_fd, .events = POLLIN } };
|
||||
|
||||
if (poll(fds, 1, timeout) > 0) {
|
||||
/* non-blocking read until buffer is empty */
|
||||
int nread = 0;
|
||||
/* non-blocking read */
|
||||
size_t nread = read(uart_fd, buf, sizeof(buf));
|
||||
ASSERT(nread > 0)
|
||||
|
||||
do {
|
||||
nread = read(uart_fd, &ch, 1);
|
||||
|
||||
if (mavlink_parse_char(chan, ch, &msg, &status)) { //parse the char
|
||||
for (size_t i = 0; i < nread; i++) {
|
||||
if (mavlink_parse_char(chan, buf[i], &msg, &status)) { //parse the char
|
||||
/* handle generic messages and commands */
|
||||
handle_message(&msg);
|
||||
|
||||
|
@ -439,7 +602,7 @@ receive_thread(void *arg)
|
|||
/* Handle packet with parameter component */
|
||||
mavlink_pm_message_handler(MAVLINK_COMM_0, &msg);
|
||||
}
|
||||
} while (nread > 0);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
@ -452,6 +615,10 @@ receive_start(int uart)
|
|||
pthread_attr_t receiveloop_attr;
|
||||
pthread_attr_init(&receiveloop_attr);
|
||||
|
||||
// set to non-blocking read
|
||||
int flags = fcntl(uart, F_GETFL, 0);
|
||||
fcntl(uart, F_SETFL, flags | O_NONBLOCK);
|
||||
|
||||
struct sched_param param;
|
||||
param.sched_priority = SCHED_PRIORITY_MAX - 40;
|
||||
(void)pthread_attr_setschedparam(&receiveloop_attr, ¶m);
|
||||
|
|
|
@ -114,6 +114,7 @@ static void l_vehicle_attitude_controls(struct listener *l);
|
|||
static void l_debug_key_value(struct listener *l);
|
||||
static void l_optical_flow(struct listener *l);
|
||||
static void l_vehicle_rates_setpoint(struct listener *l);
|
||||
static void l_home(struct listener *l);
|
||||
|
||||
struct listener listeners[] = {
|
||||
{l_sensor_combined, &mavlink_subs.sensor_sub, 0},
|
||||
|
@ -137,6 +138,7 @@ struct listener listeners[] = {
|
|||
{l_debug_key_value, &mavlink_subs.debug_key_value, 0},
|
||||
{l_optical_flow, &mavlink_subs.optical_flow, 0},
|
||||
{l_vehicle_rates_setpoint, &mavlink_subs.rates_setpoint_sub, 0},
|
||||
{l_home, &mavlink_subs.home_sub, 0},
|
||||
};
|
||||
|
||||
static const unsigned n_listeners = sizeof(listeners) / sizeof(listeners[0]);
|
||||
|
@ -621,6 +623,16 @@ l_optical_flow(struct listener *l)
|
|||
flow.flow_comp_x_m, flow.flow_comp_y_m, flow.quality, flow.ground_distance_m);
|
||||
}
|
||||
|
||||
void
|
||||
l_home(struct listener *l)
|
||||
{
|
||||
struct home_position_s home;
|
||||
|
||||
orb_copy(ORB_ID(home_position), mavlink_subs.home_sub, &home);
|
||||
|
||||
mavlink_msg_gps_global_origin_send(MAVLINK_COMM_0, home.lat, home.lon, home.alt);
|
||||
}
|
||||
|
||||
static void *
|
||||
uorb_receive_thread(void *arg)
|
||||
{
|
||||
|
@ -688,6 +700,10 @@ uorb_receive_start(void)
|
|||
mavlink_subs.gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
|
||||
orb_set_interval(mavlink_subs.gps_sub, 1000); /* 1Hz updates */
|
||||
|
||||
/* --- HOME POSITION --- */
|
||||
mavlink_subs.home_sub = orb_subscribe(ORB_ID(home_position));
|
||||
orb_set_interval(mavlink_subs.home_sub, 1000); /* 1Hz updates */
|
||||
|
||||
/* --- SYSTEM STATE --- */
|
||||
status_sub = orb_subscribe(ORB_ID(vehicle_status));
|
||||
orb_set_interval(status_sub, 300); /* max 3.33 Hz updates */
|
||||
|
@ -702,7 +718,7 @@ uorb_receive_start(void)
|
|||
|
||||
/* --- GLOBAL POS VALUE --- */
|
||||
mavlink_subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
|
||||
orb_set_interval(mavlink_subs.global_pos_sub, 1000); /* 1Hz active updates */
|
||||
orb_set_interval(mavlink_subs.global_pos_sub, 100); /* 10 Hz active updates */
|
||||
|
||||
/* --- LOCAL POS VALUE --- */
|
||||
mavlink_subs.local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
|
||||
|
|
|
@ -45,6 +45,7 @@
|
|||
#include <uORB/topics/vehicle_attitude.h>
|
||||
#include <uORB/topics/vehicle_gps_position.h>
|
||||
#include <uORB/topics/vehicle_global_position.h>
|
||||
#include <uORB/topics/home_position.h>
|
||||
#include <uORB/topics/vehicle_status.h>
|
||||
#include <uORB/topics/offboard_control_setpoint.h>
|
||||
#include <uORB/topics/vehicle_command.h>
|
||||
|
@ -81,6 +82,7 @@ struct mavlink_subscriptions {
|
|||
int input_rc_sub;
|
||||
int optical_flow;
|
||||
int rates_setpoint_sub;
|
||||
int home_sub;
|
||||
};
|
||||
|
||||
extern struct mavlink_subscriptions mavlink_subs;
|
||||
|
|
|
@ -408,9 +408,10 @@ void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_
|
|||
cur_wp->current = 0;
|
||||
|
||||
if (wpm->current_active_wp_id == wpm->size - 1 && wpm->size > 1) {
|
||||
//the last waypoint was reached, if auto continue is
|
||||
//activated restart the waypoint list from the beginning
|
||||
wpm->current_active_wp_id = 1;
|
||||
/* the last waypoint was reached, if auto continue is
|
||||
* activated restart the waypoint list from the beginning
|
||||
*/
|
||||
wpm->current_active_wp_id = 0;
|
||||
|
||||
} else {
|
||||
if ((uint16_t)(wpm->current_active_wp_id + 1) < wpm->size)
|
||||
|
|
|
@ -98,8 +98,8 @@ struct mavlink_wpm_storage {
|
|||
uint16_t max_size;
|
||||
uint16_t rcv_size;
|
||||
enum MAVLINK_WPM_STATES current_state;
|
||||
uint16_t current_wp_id; ///< Waypoint in current transmission
|
||||
uint16_t current_active_wp_id; ///< Waypoint the system is currently heading towards
|
||||
int16_t current_wp_id; ///< Waypoint in current transmission
|
||||
int16_t current_active_wp_id; ///< Waypoint the system is currently heading towards
|
||||
uint16_t current_count;
|
||||
uint8_t current_partner_sysid;
|
||||
uint8_t current_partner_compid;
|
||||
|
|
|
@ -81,7 +81,9 @@
|
|||
# Work out who included us so we can report decent errors
|
||||
#
|
||||
THIS_MAKEFILE := $(lastword $(MAKEFILE_LIST))
|
||||
PARENT_MAKEFILE := $(lastword $(filter-out $(THIS_MAKEFILE),$(MAKEFILE_LIST)))
|
||||
ifeq ($(APP_MAKEFILE),)
|
||||
APP_MAKEFILE := $(lastword $(filter-out $(THIS_MAKEFILE),$(MAKEFILE_LIST)))
|
||||
endif
|
||||
|
||||
############################################################################
|
||||
# Get configuration
|
||||
|
@ -93,7 +95,7 @@ include $(APPDIR)/Make.defs
|
|||
############################################################################
|
||||
# Sanity-check the information we've been given and set any defaults
|
||||
#
|
||||
SRCDIR ?= $(dir $(PARENT_MAKEFILE))
|
||||
SRCDIR ?= $(dir $(APP_MAKEFILE))
|
||||
PRIORITY ?= SCHED_PRIORITY_DEFAULT
|
||||
STACKSIZE ?= CONFIG_PTHREAD_STACK_DEFAULT
|
||||
|
||||
|
@ -112,14 +114,14 @@ endif
|
|||
|
||||
# there has to be a source file
|
||||
ifeq ($(ASRCS)$(CSRCS)$(CXXSRCS),)
|
||||
$(error $(realpath $(PARENT_MAKEFILE)): at least one of ASRCS, CSRCS or CXXSRCS must be set)
|
||||
$(error $(realpath $(APP_MAKEFILE)): at least one of ASRCS, CSRCS or CXXSRCS must be set)
|
||||
endif
|
||||
|
||||
# check that C++ is configured if we have C++ source files and we are building
|
||||
ifneq ($(CXXSRCS),)
|
||||
ifneq ($(CONFIG_HAVE_CXX),y)
|
||||
ifeq ($(MAKECMDGOALS),build)
|
||||
$(error $(realpath $(PARENT_MAKEFILE)): cannot set CXXSRCS if CONFIG_HAVE_CXX not set in configuration)
|
||||
$(error $(realpath $(APP_MAKEFILE)): cannot set CXXSRCS if CONFIG_HAVE_CXX not set in configuration)
|
||||
endif
|
||||
endif
|
||||
endif
|
||||
|
@ -153,6 +155,11 @@ COBJS = $(patsubst %.c,%.o,$(CSRCS))
|
|||
CXXOBJS = $(patsubst %.cpp,%.o,$(CXXSRCS))
|
||||
OBJS = $(AOBJS) $(COBJS) $(CXXOBJS)
|
||||
|
||||
# Automatic depdendency generation
|
||||
DEPS = $(OBJS:$(OBJEXT)=.d)
|
||||
CFLAGS += -MD
|
||||
CXXFLAGS += -MD
|
||||
|
||||
# The prelinked object that we are ultimately going to build
|
||||
ifneq ($(APPNAME),)
|
||||
PRELINKOBJ = $(APPNAME).pre.o
|
||||
|
@ -160,7 +167,7 @@ else
|
|||
PRELINKOBJ = $(LIBNAME).pre.o
|
||||
endif
|
||||
|
||||
# The archive that the object file will be placed in
|
||||
# The archive the prelinked object will be linked into
|
||||
# XXX does WINTOOL ever get set?
|
||||
ifeq ($(WINTOOL),y)
|
||||
INCDIROPT = -w
|
||||
|
@ -186,11 +193,8 @@ all: .built
|
|||
#
|
||||
# Source dependencies
|
||||
#
|
||||
depend: .depend
|
||||
.depend: $(MAKEFILE_LIST) $(SRCS)
|
||||
@$(MKDEP) --dep-path . $(CC) -- $(CFLAGS) -- $(CSRCS) $(CHDRS) >Make.dep
|
||||
@$(MKDEP) --dep-path . $(CXX) -- $(CXXFLAGS) -- $(CXXSRCS) $(CXXHDRS) >>Make.dep
|
||||
@touch $@
|
||||
depend:
|
||||
@exit 0
|
||||
|
||||
ifneq ($(APPNAME),)
|
||||
#
|
||||
|
@ -202,6 +206,7 @@ context: .context
|
|||
@touch $@
|
||||
else
|
||||
context:
|
||||
@exit 0
|
||||
endif
|
||||
|
||||
#
|
||||
|
@ -210,23 +215,23 @@ endif
|
|||
$(PRELINKOBJ): $(OBJS)
|
||||
$(call PRELINK, $@, $(OBJS))
|
||||
|
||||
$(AOBJS): %.o : %.S
|
||||
$(AOBJS): %.o : %.S $(MAKEFILE_LIST)
|
||||
$(call ASSEMBLE, $<, $@)
|
||||
|
||||
$(COBJS): %.o : %.c
|
||||
$(COBJS): %.o : %.c $(MAKEFILE_LIST)
|
||||
$(call COMPILE, $<, $@)
|
||||
|
||||
$(CXXOBJS): %.o : %.cpp
|
||||
$(CXXOBJS): %.o : %.cpp $(MAKEFILE_LIST)
|
||||
$(call COMPILEXX, $<, $@)
|
||||
|
||||
#
|
||||
# Tidying up
|
||||
#
|
||||
clean:
|
||||
@rm -f $(OBJS) $(PRELINKOBJ) Make.dep .built
|
||||
@rm -f $(OBJS) $(DEPS) $(PRELINKOBJ) .built
|
||||
$(call CLEAN)
|
||||
|
||||
distclean: clean
|
||||
@rm -f Make.dep .depend
|
||||
|
||||
-include Make.dep
|
||||
-include $(DEPS)
|
||||
|
|
|
@ -1,7 +1,7 @@
|
|||
############################################################################
|
||||
# apps/nshlib/Makefile
|
||||
#
|
||||
# Copyright (C) 2011 Gregory Nutt. All rights reserved.
|
||||
# Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
|
||||
# Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
|
@ -54,10 +54,14 @@ COBJS = $(CSRCS:.c=$(OBJEXT))
|
|||
SRCS = $(ASRCS) $(CSRCS)
|
||||
OBJS = $(AOBJS) $(COBJS)
|
||||
|
||||
ifeq ($(WINTOOL),y)
|
||||
BIN = "${shell cygpath -w $(APPDIR)/libapps$(LIBEXT)}"
|
||||
ifeq ($(CONFIG_WINDOWS_NATIVE),y)
|
||||
BIN = ..\libapps$(LIBEXT)
|
||||
else
|
||||
BIN = "$(APPDIR)/libapps$(LIBEXT)"
|
||||
ifeq ($(WINTOOL),y)
|
||||
BIN = ..\\libapps$(LIBEXT)
|
||||
else
|
||||
BIN = ../libapps$(LIBEXT)
|
||||
endif
|
||||
endif
|
||||
|
||||
ROOTDEPPATH = --dep-path .
|
||||
|
@ -75,32 +79,32 @@ $(COBJS): %$(OBJEXT): %.c
|
|||
$(call COMPILE, $<, $@)
|
||||
|
||||
.built: $(OBJS)
|
||||
@( for obj in $(OBJS) ; do \
|
||||
$(call ARCHIVE, $(BIN), $${obj}); \
|
||||
done ; )
|
||||
@touch .built
|
||||
$(call ARCHIVE, $(BIN), $(OBJS))
|
||||
$(Q) touch .built
|
||||
|
||||
.context:
|
||||
@echo "/* List of application requirements, generated during make context. */" > namedapp_list.h
|
||||
@echo "/* List of application entry points, generated during make context. */" > namedapp_proto.h
|
||||
@touch $@
|
||||
$(Q) touch $@
|
||||
|
||||
context: .context
|
||||
|
||||
.depend: Makefile $(SRCS)
|
||||
@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
@touch $@
|
||||
$(Q) $(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
$(Q) touch $@
|
||||
|
||||
depend: .depend
|
||||
|
||||
clean:
|
||||
@rm -f *.o *~ .*.swp .built
|
||||
$(call DELFILE, .built)
|
||||
$(call CLEAN)
|
||||
|
||||
distclean: clean
|
||||
@rm -f .context Make.dep .depend
|
||||
@rm -f namedapp_list.h
|
||||
@rm -f namedapp_proto.h
|
||||
$(call DELFILE, .context)
|
||||
$(call DELFILE, Make.dep)
|
||||
$(call DELFILE, .depend)
|
||||
$(call DELFILE, namedapp_list.h)
|
||||
$(call DELFILE, namedapp_proto.h)
|
||||
|
||||
-include Make.dep
|
||||
|
||||
|
|
|
@ -23,122 +23,194 @@ config NSH_BUILTIN_APPS
|
|||
(NAMEDAPP).
|
||||
|
||||
menu "Disable Individual commands"
|
||||
|
||||
config NSH_DISABLE_BASE64DEC
|
||||
bool "Disable base64dec"
|
||||
default n
|
||||
depends on NETUTILS_CODECS && CODECS_BASE64
|
||||
|
||||
config NSH_DISABLE_BASE64ENC
|
||||
bool "Disable base64enc"
|
||||
default n
|
||||
depends on NETUTILS_CODECS && CODECS_BASE64
|
||||
|
||||
config NSH_DISABLE_CAT
|
||||
bool "Disable cat"
|
||||
default n
|
||||
|
||||
config NSH_DISABLE_CD
|
||||
bool "Disable cd"
|
||||
default n
|
||||
|
||||
config NSH_DISABLE_CP
|
||||
bool "Disable cp"
|
||||
default n
|
||||
|
||||
config NSH_DISABLE_DD
|
||||
bool "Disable dd"
|
||||
default n
|
||||
|
||||
config NSH_DISABLE_ECHO
|
||||
bool "Disable echo"
|
||||
default n
|
||||
|
||||
config NSH_DISABLE_EXEC
|
||||
bool "Disable exec"
|
||||
default n
|
||||
|
||||
config NSH_DISABLE_EXIT
|
||||
bool "Disable exit"
|
||||
default n
|
||||
|
||||
config NSH_DISABLE_FREE
|
||||
bool "Disable free"
|
||||
default n
|
||||
|
||||
config NSH_DISABLE_GET
|
||||
bool "Disable get"
|
||||
default n
|
||||
|
||||
config NSH_DISABLE_HELP
|
||||
bool "Disable help"
|
||||
default n
|
||||
|
||||
config NSH_DISABLE_HEXDUMP
|
||||
bool "Disable hexdump"
|
||||
default n
|
||||
|
||||
config NSH_DISABLE_IFCONFIG
|
||||
bool "Disable ifconfig"
|
||||
default n
|
||||
|
||||
config NSH_DISABLE_KILL
|
||||
bool "Disable kill"
|
||||
default n
|
||||
|
||||
config NSH_DISABLE_LOSETUP
|
||||
bool "Disable losetup"
|
||||
default n
|
||||
|
||||
config NSH_DISABLE_LS
|
||||
bool "Disable ls"
|
||||
default n
|
||||
|
||||
config NSH_DISABLE_MB
|
||||
bool "Disable mb"
|
||||
default n
|
||||
|
||||
config NSH_DISABLE_MD5
|
||||
bool "Disable md5"
|
||||
default n
|
||||
depends on NETUTILS_CODECS && CODECS_HASH_MD5
|
||||
|
||||
config NSH_DISABLE_MKDIR
|
||||
bool "Disable mkdir"
|
||||
default n
|
||||
|
||||
config NSH_DISABLE_MKFATFS
|
||||
bool "Disable mkfatfs"
|
||||
default n
|
||||
|
||||
config NSH_DISABLE_MKFIFO
|
||||
bool "Disable mkfifo"
|
||||
default n
|
||||
|
||||
config NSH_DISABLE_MKRD
|
||||
bool "Disable mkrd"
|
||||
default n
|
||||
|
||||
config NSH_DISABLE_MH
|
||||
bool "Disable mh"
|
||||
default n
|
||||
|
||||
config NSH_DISABLE_MOUNT
|
||||
bool "Disable mount"
|
||||
default n
|
||||
|
||||
config NSH_DISABLE_MW
|
||||
bool "Disable mw"
|
||||
default n
|
||||
|
||||
config NSH_DISABLE_NSFMOUNT
|
||||
bool "Disable nfsmount"
|
||||
default n
|
||||
|
||||
config NSH_DISABLE_PS
|
||||
bool "Disable ps"
|
||||
default n
|
||||
|
||||
config NSH_DISABLE_PING
|
||||
bool "Disable ping"
|
||||
default n
|
||||
|
||||
config NSH_DISABLE_PUT
|
||||
bool "Disable put"
|
||||
default n
|
||||
|
||||
config NSH_DISABLE_PWD
|
||||
bool "Disable pwd"
|
||||
default n
|
||||
|
||||
config NSH_DISABLE_RM
|
||||
bool "Disable rm"
|
||||
default n
|
||||
|
||||
config NSH_DISABLE_RMDIR
|
||||
bool "Disable rmdir"
|
||||
default n
|
||||
|
||||
config NSH_DISABLE_SET
|
||||
bool "Disable set"
|
||||
default n
|
||||
|
||||
config NSH_DISABLE_SH
|
||||
bool "Disable sh"
|
||||
default n
|
||||
|
||||
config NSH_DISABLE_SLEEP
|
||||
bool "Disable sleep"
|
||||
default n
|
||||
|
||||
config NSH_DISABLE_TEST
|
||||
bool "Disable test"
|
||||
default n
|
||||
|
||||
config NSH_DISABLE_UMOUNT
|
||||
bool "Disable umount"
|
||||
default n
|
||||
|
||||
config NSH_DISABLE_UNSET
|
||||
bool "Disable unset"
|
||||
default n
|
||||
|
||||
config NSH_DISABLE_URLDECODE
|
||||
bool "Disable urldecode"
|
||||
default n
|
||||
depends on NETUTILS_CODECS && CODECS_URLCODE
|
||||
|
||||
config NSH_DISABLE_URLENCODE
|
||||
bool "Disable urlencode"
|
||||
default n
|
||||
depends on NETUTILS_CODECS && CODECS_URLCODE
|
||||
|
||||
config NSH_DISABLE_USLEEP
|
||||
bool "Disable usleep"
|
||||
default n
|
||||
|
||||
config NSH_DISABLE_WGET
|
||||
bool "Disable wget"
|
||||
default n
|
||||
|
||||
config NSH_DISABLE_XD
|
||||
bool "Disable xd"
|
||||
default n
|
||||
|
||||
endmenu
|
||||
|
||||
config NSH_CODECS_BUFSIZE
|
||||
int "File buffer size used by CODEC commands"
|
||||
default 128
|
||||
|
||||
config NSH_FILEIOSIZE
|
||||
int "NSH I/O buffer size"
|
||||
default 1024
|
||||
|
@ -490,7 +562,7 @@ config NSH_DHCPC
|
|||
|
||||
config NSH_IPADDR
|
||||
hex "Target IP address"
|
||||
default 0x10000002
|
||||
default 0xa0000002
|
||||
depends on NSH_LIBRARY && NET && !NSH_DHCPC
|
||||
---help---
|
||||
If NSH_DHCPC is NOT set, then the static IP address must be provided.
|
||||
|
@ -499,7 +571,7 @@ config NSH_IPADDR
|
|||
|
||||
config NSH_DRIPADDR
|
||||
hex "Router IP address"
|
||||
default 0x10000001
|
||||
default 0xa0000001
|
||||
depends on NSH_LIBRARY && NET && !NSH_DHCPC
|
||||
---help---
|
||||
Default router IP address (aka, Gateway). This is a 32-bit integer
|
||||
|
@ -513,6 +585,21 @@ config NSH_NETMASK
|
|||
Network mask. This is a 32-bit integer value in host order. So, as
|
||||
an example, 0xffffff00 would be 255.255.255.0.
|
||||
|
||||
config NSH_DNS
|
||||
bool "Use DNS"
|
||||
default n
|
||||
depends on NSH_LIBRARY && NET && NET_UDP && NET_BROADCAST
|
||||
---help---
|
||||
Configure to use a DNS.
|
||||
|
||||
config NSH_DNSIPADDR
|
||||
hex "DNS IP address"
|
||||
default 0xa0000001
|
||||
depends on NSH_DNS
|
||||
---help---
|
||||
Configure the DNS address. This is a 32-bit integer value in host
|
||||
order. So, as an example, 0xa0000001 would be 10.0.0.1.
|
||||
|
||||
config NSH_NOMAC
|
||||
bool "Hardware has no MAC address"
|
||||
default n
|
||||
|
@ -520,3 +607,12 @@ config NSH_NOMAC
|
|||
---help---
|
||||
Set if your ethernet hardware has no built-in MAC address.
|
||||
If set, a bogus MAC will be assigned.
|
||||
|
||||
config NSH_MAX_ROUNDTRIP
|
||||
int "Max Ping Round-Trip (DSEC)"
|
||||
default 20
|
||||
depends on NSH_LIBRARY && NET && !NSH_DISABLE_PING
|
||||
---help---
|
||||
This is the maximum round trip for a response to a ICMP ECHO request.
|
||||
It is in units of deciseconds. The default is 20 (2 seconds).
|
||||
|
||||
|
|
|
@ -39,64 +39,72 @@ include $(APPDIR)/Make.defs
|
|||
|
||||
# NSH Library
|
||||
|
||||
ASRCS =
|
||||
CSRCS = nsh_init.c nsh_parse.c nsh_console.c nsh_fscmds.c nsh_ddcmd.c \
|
||||
ASRCS =
|
||||
CSRCS = nsh_init.c nsh_parse.c nsh_console.c nsh_fscmds.c nsh_ddcmd.c \
|
||||
nsh_proccmds.c nsh_mmcmds.c nsh_envcmds.c nsh_dbgcmds.c
|
||||
|
||||
ifeq ($(CONFIG_NSH_BUILTIN_APPS),y)
|
||||
CSRCS += nsh_apps.c
|
||||
CSRCS += nsh_apps.c
|
||||
endif
|
||||
|
||||
ifeq ($(CONFIG_NSH_ROMFSETC),y)
|
||||
CSRCS += nsh_romfsetc.c
|
||||
CSRCS += nsh_romfsetc.c
|
||||
endif
|
||||
|
||||
ifeq ($(CONFIG_NET),y)
|
||||
CSRCS += nsh_netinit.c nsh_netcmds.c
|
||||
CSRCS += nsh_netinit.c nsh_netcmds.c
|
||||
endif
|
||||
|
||||
ifeq ($(CONFIG_RTC),y)
|
||||
CSRCS += nsh_timcmds.c
|
||||
CSRCS += nsh_timcmds.c
|
||||
endif
|
||||
|
||||
ifneq ($(CONFIG_DISABLE_MOUNTPOINT),y)
|
||||
CSRCS += nsh_mntcmds.c
|
||||
CSRCS += nsh_mntcmds.c
|
||||
endif
|
||||
|
||||
ifeq ($(CONFIG_NSH_CONSOLE),y)
|
||||
CSRCS += nsh_consolemain.c
|
||||
CSRCS += nsh_consolemain.c
|
||||
endif
|
||||
|
||||
ifeq ($(CONFIG_NSH_TELNET),y)
|
||||
CSRCS += nsh_telnetd.c
|
||||
CSRCS += nsh_telnetd.c
|
||||
endif
|
||||
|
||||
ifneq ($(CONFIG_NSH_DISABLESCRIPT),y)
|
||||
CSRCS += nsh_test.c
|
||||
CSRCS += nsh_test.c
|
||||
endif
|
||||
|
||||
ifeq ($(CONFIG_USBDEV),y)
|
||||
CSRCS += nsh_usbdev.c
|
||||
CSRCS += nsh_usbdev.c
|
||||
endif
|
||||
|
||||
AOBJS = $(ASRCS:.S=$(OBJEXT))
|
||||
COBJS = $(CSRCS:.c=$(OBJEXT))
|
||||
ifeq ($(CONFIG_NETUTILS_CODECS),y)
|
||||
CSRCS += nsh_codeccmd.c
|
||||
endif
|
||||
|
||||
SRCS = $(ASRCS) $(CSRCS)
|
||||
OBJS = $(AOBJS) $(COBJS)
|
||||
AOBJS = $(ASRCS:.S=$(OBJEXT))
|
||||
COBJS = $(CSRCS:.c=$(OBJEXT))
|
||||
|
||||
ifeq ($(WINTOOL),y)
|
||||
BIN = "${shell cygpath -w $(APPDIR)/libapps$(LIBEXT)}"
|
||||
SRCS = $(ASRCS) $(CSRCS)
|
||||
OBJS = $(AOBJS) $(COBJS)
|
||||
|
||||
ifeq ($(CONFIG_WINDOWS_NATIVE),y)
|
||||
BIN = ..\libapps$(LIBEXT)
|
||||
else
|
||||
BIN = "$(APPDIR)/libapps$(LIBEXT)"
|
||||
ifeq ($(WINTOOL),y)
|
||||
BIN = ..\\libapps$(LIBEXT)
|
||||
else
|
||||
BIN = ../libapps$(LIBEXT)
|
||||
endif
|
||||
endif
|
||||
|
||||
ROOTDEPPATH = --dep-path .
|
||||
VPATH =
|
||||
ROOTDEPPATH = --dep-path .
|
||||
VPATH =
|
||||
|
||||
# Build targets
|
||||
|
||||
all: .built
|
||||
all: .built
|
||||
.PHONY: context .depend depend clean distclean
|
||||
|
||||
$(AOBJS): %$(OBJEXT): %.S
|
||||
|
@ -106,26 +114,25 @@ $(COBJS): %$(OBJEXT): %.c
|
|||
$(call COMPILE, $<, $@)
|
||||
|
||||
.built: $(OBJS)
|
||||
@( for obj in $(OBJS) ; do \
|
||||
$(call ARCHIVE, $(BIN), $${obj}); \
|
||||
done ; )
|
||||
$(call ARCHIVE, $(BIN), $(OBJS))
|
||||
@touch .built
|
||||
|
||||
context:
|
||||
|
||||
.depend: Makefile $(SRCS)
|
||||
@$(MKDEP) $(ROOTDEPPATH) \
|
||||
$(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
@$(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
@touch $@
|
||||
|
||||
depend: .depend
|
||||
|
||||
clean:
|
||||
@rm -f *.o *~ .*.swp .built
|
||||
$(call DELFILE, .built)
|
||||
$(call CLEAN)
|
||||
|
||||
distclean: clean
|
||||
@rm -f Make.dep .depend
|
||||
$(call DELFILE, .context)
|
||||
$(call DELFILE, Make.dep)
|
||||
$(call DELFILE, .depend)
|
||||
|
||||
-include Make.dep
|
||||
|
||||
|
|
|
@ -235,6 +235,10 @@ o test <expression>
|
|||
integer -gt integer | integer -le integer |
|
||||
integer -lt integer | integer -ne integer
|
||||
|
||||
o base64dec [-w] [-f] <string or filepath>
|
||||
|
||||
o base64dec [-w] [-f] <string or filepath>
|
||||
|
||||
o cat <path> [<path> [<path> ...]]
|
||||
|
||||
This command copies and concatentates all of the files at <path>
|
||||
|
@ -381,7 +385,11 @@ o help [-v] [<cmd>]
|
|||
<cmd>
|
||||
Show full command usage only for this command
|
||||
|
||||
o ifconfig
|
||||
o hexdump <file or device>
|
||||
|
||||
Dump data in hexadecimal format from a file or character device.
|
||||
|
||||
o ifconfig [nic_name [<ip-address>|dhcp]] [dr|gw|gateway <dr-address>] [netmask <net-mask>] [dns <dns-address>] [hw <hw-mac>]
|
||||
|
||||
Show the current configuration of the network, for example:
|
||||
|
||||
|
@ -392,6 +400,22 @@ o ifconfig
|
|||
if uIP statistics are enabled (CONFIG_NET_STATISTICS), then
|
||||
this command will also show the detailed state of uIP.
|
||||
|
||||
o ifdown <nic-name>
|
||||
|
||||
Take down the interface identified by the name <nic-name>.
|
||||
|
||||
Example:
|
||||
|
||||
ifdown eth0
|
||||
|
||||
o ifup <nic-name>
|
||||
|
||||
Bring up down the interface identified by the name <nic-name>.
|
||||
|
||||
Example:
|
||||
|
||||
ifup eth0
|
||||
|
||||
o kill -<signal> <pid>
|
||||
|
||||
Send the <signal> to the task identified by <pid>.
|
||||
|
@ -449,6 +473,8 @@ o ls [-lRs] <dir-path>
|
|||
-l Show size and mode information along with the filenames
|
||||
in the listing.
|
||||
|
||||
o md5 [-f] <string or filepath>
|
||||
|
||||
o mb <hex-address>[=<hex-value>][ <hex-byte-count>]
|
||||
o mh <hex-address>[=<hex-value>][ <hex-byte-count>]
|
||||
o mw <hex-address>[=<hex-value>][ <hex-byte-count>]
|
||||
|
@ -781,6 +807,10 @@ o unset <name>
|
|||
|
||||
nsh>
|
||||
|
||||
o urldecode [-f] <string or filepath>
|
||||
|
||||
o urlencode [-f] <string or filepath>
|
||||
|
||||
o usleep <usec>
|
||||
|
||||
Pause execution (sleep) of <usec> microseconds.
|
||||
|
@ -826,6 +856,8 @@ Command Dependencies on Configuration Settings
|
|||
Command Depends on Configuration
|
||||
---------- --------------------------
|
||||
[ !CONFIG_NSH_DISABLESCRIPT
|
||||
base64dec CONFIG_NETUTILS_CODECS && CONFIG_CODECS_BASE64
|
||||
base64enc CONFIG_NETUTILS_CODECS && CONFIG_CODECS_BASE64
|
||||
cat CONFIG_NFILE_DESCRIPTORS > 0
|
||||
cd !CONFIG_DISABLE_ENVIRON && CONFIG_NFILE_DESCRIPTORS > 0
|
||||
cp CONFIG_NFILE_DESCRIPTORS > 0
|
||||
|
@ -837,10 +869,14 @@ Command Dependencies on Configuration Settings
|
|||
free --
|
||||
get CONFIG_NET && CONFIG_NET_UDP && CONFIG_NFILE_DESCRIPTORS > 0 && CONFIG_NET_BUFSIZE >= 558 (see note 1)
|
||||
help --
|
||||
hexdump CONFIG_NFILE_DESCRIPTORS > 0
|
||||
ifconfig CONFIG_NET
|
||||
ifdown CONFIG_NET
|
||||
ifup CONFIG_NET
|
||||
kill !CONFIG_DISABLE_SIGNALS
|
||||
losetup !CONFIG_DISABLE_MOUNTPOINT && CONFIG_NFILE_DESCRIPTORS > 0
|
||||
ls CONFIG_NFILE_DESCRIPTORS > 0
|
||||
md5 CONFIG_NETUTILS_CODECS && CONFIG_CODECS_HASH_MD5
|
||||
mb,mh,mw ---
|
||||
mkdir !CONFIG_DISABLE_MOUNTPOINT && CONFIG_NFILE_DESCRIPTORS > 0 && CONFIG_FS_WRITABLE (see note 4)
|
||||
mkfatfs !CONFIG_DISABLE_MOUNTPOINT && CONFIG_NFILE_DESCRIPTORS > 0 && CONFIG_FS_FAT
|
||||
|
@ -861,6 +897,8 @@ Command Dependencies on Configuration Settings
|
|||
test !CONFIG_NSH_DISABLESCRIPT
|
||||
umount !CONFIG_DISABLE_MOUNTPOINT && CONFIG_NFILE_DESCRIPTORS > 0 && CONFIG_FS_READABLE
|
||||
unset !CONFIG_DISABLE_ENVIRON
|
||||
urldecode CONFIG_NETUTILS_CODECS && CONFIG_CODECS_URLCODE
|
||||
urlencode CONFIG_NETUTILS_CODECS && CONFIG_CODECS_URLCODE
|
||||
usleep !CONFIG_DISABLE_SIGNALS
|
||||
get CONFIG_NET && CONFIG_NET_TCP && CONFIG_NFILE_DESCRIPTORS > 0
|
||||
xd ---
|
||||
|
@ -880,20 +918,22 @@ In addition, each NSH command can be individually disabled via one of the follow
|
|||
settings. All of these settings make the configuration of NSH potentially complex but
|
||||
also allow it to squeeze into very small memory footprints.
|
||||
|
||||
CONFIG_NSH_DISABLE_CAT, CONFIG_NSH_DISABLE_CD, CONFIG_NSH_DISABLE_CP,
|
||||
CONFIG_NSH_DISABLE_DD, CONFIG_NSH_DISABLE_DF, CONFIG_NSH_DISABLE_ECHO,
|
||||
CONFIG_NSH_DISABLE_EXEC, CONFIG_NSH_DISABLE_EXIT, CONFIG_NSH_DISABLE_FREE,
|
||||
CONFIG_NSH_DISABLE_GET, CONFIG_NSH_DISABLE_HELP, CONFIG_NSH_DISABLE_IFCONFIG,
|
||||
CONFIG_NSH_DISABLE_KILL, CONFIG_NSH_DISABLE_LOSETUP, CONFIG_NSH_DISABLE_LS,
|
||||
CONFIG_NSH_DISABLE_MB, CONFIG_NSH_DISABLE_MKDIR, CONFIG_NSH_DISABLE_MKFATFS,
|
||||
CONFIG_NSH_DISABLE_MKFIFO, CONFIG_NSH_DISABLE_MKRD, CONFIG_NSH_DISABLE_MH,
|
||||
CONFIG_NSH_DISABLE_MOUNT, CONFIG_NSH_DISABLE_MW, CONFIG_NSH_DISABLE_MV,
|
||||
CONFIG_NSH_DISABLE_NFSMOUNT, CONFIG_NSH_DISABLE_PS, CONFIG_NSH_DISABLE_PING,
|
||||
CONFIG_NSH_DISABLE_PUT, CONFIG_NSH_DISABLE_PWD, CONFIG_NSH_DISABLE_RM,
|
||||
CONFIG_NSH_DISABLE_RMDIR, CONFIG_NSH_DISABLE_SET, CONFIG_NSH_DISABLE_SH,
|
||||
CONFIG_NSH_DISABLE_SLEEP, CONFIG_NSH_DISABLE_TEST, CONFIG_NSH_DISABLE_UMOUNT,
|
||||
CONFIG_NSH_DISABLE_UNSET, CONFIG_NSH_DISABLE_USLEEP, CONFIG_NSH_DISABLE_WGET,
|
||||
CONFIG_NSH_DISABLE_XD
|
||||
CONFIG_NSH_DISABLE_BASE64DEC, CONFIG_NSH_DISABLE_BASE64ENC, CONFIG_NSH_DISABLE_CAT,
|
||||
CONFIG_NSH_DISABLE_CD, CONFIG_NSH_DISABLE_CP, CONFIG_NSH_DISABLE_DD,
|
||||
CONFIG_NSH_DISABLE_DF, CONFIG_NSH_DISABLE_ECHO, CONFIG_NSH_DISABLE_EXEC,
|
||||
CONFIG_NSH_DISABLE_EXIT, CONFIG_NSH_DISABLE_FREE, CONFIG_NSH_DISABLE_GET,
|
||||
CONFIG_NSH_DISABLE_HELP, CONFIG_NSH_DISABLE_HEXDUMP, CONFIG_NSH_DISABLE_IFCONFIG,
|
||||
CONFIG_NSH_DISABLE_IFUPDOWN, CONFIG_NSH_DISABLE_KILL, CONFIG_NSH_DISABLE_LOSETUP,
|
||||
CONFIG_NSH_DISABLE_LS, CONFIG_NSH_DISABLE_MD5 CONFIG_NSH_DISABLE_MB,
|
||||
CONFIG_NSH_DISABLE_MKDIR, CONFIG_NSH_DISABLE_MKFATFS, CONFIG_NSH_DISABLE_MKFIFO,
|
||||
CONFIG_NSH_DISABLE_MKRD, CONFIG_NSH_DISABLE_MH, CONFIG_NSH_DISABLE_MOUNT,
|
||||
CONFIG_NSH_DISABLE_MW, CONFIG_NSH_DISABLE_MV, CONFIG_NSH_DISABLE_NFSMOUNT,
|
||||
CONFIG_NSH_DISABLE_PS, CONFIG_NSH_DISABLE_PING, CONFIG_NSH_DISABLE_PUT,
|
||||
CONFIG_NSH_DISABLE_PWD, CONFIG_NSH_DISABLE_RM, CONFIG_NSH_DISABLE_RMDIR,
|
||||
CONFIG_NSH_DISABLE_SET, CONFIG_NSH_DISABLE_SH, CONFIG_NSH_DISABLE_SLEEP,
|
||||
CONFIG_NSH_DISABLE_TEST, CONFIG_NSH_DISABLE_UMOUNT, CONFIG_NSH_DISABLE_UNSET,
|
||||
CONFIG_NSH_DISABLE_URLDECODE, CONFIG_NSH_DISABLE_URLENCODE, CONFIG_NSH_DISABLE_USLEEP,
|
||||
CONFIG_NSH_DISABLE_WGET, CONFIG_NSH_DISABLE_XD
|
||||
|
||||
Verbose help output can be suppressed by defining CONFIG_NSH_HELP_TERSE. In that
|
||||
case, the help command is still available but will be slightly smaller.
|
||||
|
@ -1084,6 +1124,10 @@ NSH-Specific Configuration Settings
|
|||
Set if your ethernet hardware has no built-in MAC address.
|
||||
If set, a bogus MAC will be assigned.
|
||||
|
||||
* CONFIG_NSH_MAX_ROUNDTRIP
|
||||
This is the maximum round trip for a response to a ICMP ECHO request.
|
||||
It is in units of deciseconds. The default is 20 (2 seconds).
|
||||
|
||||
If you use DHCPC, then some special configuration network options are
|
||||
required. These include:
|
||||
|
||||
|
|
|
@ -47,6 +47,7 @@
|
|||
#include <stdio.h>
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <unistd.h>
|
||||
#include <errno.h>
|
||||
|
||||
#include <nuttx/usb/usbdev_trace.h>
|
||||
|
@ -215,6 +216,15 @@
|
|||
|
||||
#endif /* CONFIG_NSH_TELNET_LOGIN */
|
||||
|
||||
/* CONFIG_NSH_MAX_ROUNDTRIP - This is the maximum round trip for a response to
|
||||
* a ICMP ECHO request. It is in units of deciseconds. The default is 20
|
||||
* (2 seconds).
|
||||
*/
|
||||
|
||||
#ifndef CONFIG_NSH_MAX_ROUNDTRIP
|
||||
# define CONFIG_NSH_MAX_ROUNDTRIP 20
|
||||
#endif
|
||||
|
||||
/* Verify support for ROMFS /etc directory support options */
|
||||
|
||||
#ifdef CONFIG_NSH_ROMFSETC
|
||||
|
@ -258,12 +268,36 @@
|
|||
# undef CONFIG_NSH_ROMFSSECTSIZE
|
||||
#endif
|
||||
|
||||
/* This is the maximum number of arguments that will be accepted for a command */
|
||||
#ifdef CONFIG_NSH_MAX_ARGUMENTS
|
||||
# define NSH_MAX_ARGUMENTS CONFIG_NSH_MAX_ARGUMENTS
|
||||
#else
|
||||
# define NSH_MAX_ARGUMENTS 10
|
||||
/* This is the maximum number of arguments that will be accepted for a
|
||||
* command. Here we attempt to select the smallest number possible depending
|
||||
* upon the of commands that are available. Most commands use six or fewer
|
||||
* arguments, but there are a few that require more.
|
||||
*
|
||||
* This value is also configurable with CONFIG_NSH_MAXARGUMENTS. This
|
||||
* configurability is necessary since there may also be external, "built-in"
|
||||
* commands that require more commands than NSH is aware of.
|
||||
*/
|
||||
|
||||
#ifndef CONFIG_NSH_MAXARGUMENTS
|
||||
# define CONFIG_NSH_MAXARGUMENTS 6
|
||||
#endif
|
||||
|
||||
#if CONFIG_NSH_MAXARGUMENTS < 11
|
||||
# if defined(CONFIG_NET) && !defined(CONFIG_NSH_DISABLE_IFCONFIG)
|
||||
# undef CONFIG_NSH_MAXARGUMENTS
|
||||
# define CONFIG_NSH_MAXARGUMENTS 11
|
||||
# endif
|
||||
#endif
|
||||
|
||||
#if CONFIG_NSH_MAXARGUMENTS < 7
|
||||
# if defined(CONFIG_NET_UDP) && CONFIG_NFILE_DESCRIPTORS > 0
|
||||
# if !defined(CONFIG_NSH_DISABLE_GET) || !defined(CONFIG_NSH_DISABLE_PUT)
|
||||
# undef CONFIG_NSH_MAXARGUMENTS
|
||||
# define CONFIG_NSH_MAXARGUMENTS 7
|
||||
# endif
|
||||
# endif
|
||||
#endif
|
||||
|
||||
/* strerror() produces much nicer output but is, however, quite large and
|
||||
* will only be used if CONFIG_NSH_STRERROR is defined. Note that the strerror
|
||||
* interface must also have been enabled with CONFIG_LIBC_STRERROR.
|
||||
|
@ -507,7 +541,7 @@ void nsh_usbtrace(void);
|
|||
#ifndef CONFIG_NSH_DISABLE_XD
|
||||
int cmd_xd(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv);
|
||||
#endif
|
||||
|
||||
|
||||
#if !defined(CONFIG_NSH_DISABLESCRIPT) && !defined(CONFIG_NSH_DISABLE_TEST)
|
||||
int cmd_test(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv);
|
||||
int cmd_lbracket(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv);
|
||||
|
@ -529,6 +563,9 @@ void nsh_usbtrace(void);
|
|||
# ifndef CONFIG_NSH_DISABLE_DD
|
||||
int cmd_dd(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv);
|
||||
# endif
|
||||
# ifndef CONFIG_NSH_DISABLE_HEXDUMP
|
||||
int cmd_hexdump(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv);
|
||||
# endif
|
||||
# ifndef CONFIG_NSH_DISABLE_LS
|
||||
int cmd_ls(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv);
|
||||
# endif
|
||||
|
@ -595,6 +632,10 @@ void nsh_usbtrace(void);
|
|||
# ifndef CONFIG_NSH_DISABLE_IFCONFIG
|
||||
int cmd_ifconfig(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv);
|
||||
# endif
|
||||
# ifndef CONFIG_NSH_DISABLE_IFUPDOWN
|
||||
int cmd_ifup(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv);
|
||||
int cmd_ifdown(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv);
|
||||
# endif
|
||||
#if defined(CONFIG_NET_UDP) && CONFIG_NFILE_DESCRIPTORS > 0
|
||||
# ifndef CONFIG_NSH_DISABLE_GET
|
||||
int cmd_get(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv);
|
||||
|
@ -643,4 +684,28 @@ void nsh_usbtrace(void);
|
|||
# endif
|
||||
#endif /* CONFIG_DISABLE_SIGNALS */
|
||||
|
||||
#if defined(CONFIG_NETUTILS_CODECS) && defined(CONFIG_CODECS_BASE64)
|
||||
# ifndef CONFIG_NSH_DISABLE_BASE64DEC
|
||||
int cmd_base64decode(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv);
|
||||
# endif
|
||||
# ifndef CONFIG_NSH_DISABLE_BASE64ENC
|
||||
int cmd_base64encode(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv);
|
||||
# endif
|
||||
#endif
|
||||
|
||||
#if defined(CONFIG_NETUTILS_CODECS) && defined(CONFIG_CODECS_HASH_MD5)
|
||||
# ifndef CONFIG_NSH_DISABLE_MD5
|
||||
int cmd_md5(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv);
|
||||
# endif
|
||||
#endif
|
||||
|
||||
#if defined(CONFIG_NETUTILS_CODECS) && defined(CONFIG_CODECS_URLCODE)
|
||||
# ifndef CONFIG_NSH_DISABLE_URLDECODE
|
||||
int cmd_urlencode(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv);
|
||||
# endif
|
||||
# ifndef CONFIG_NSH_DISABLE_URLENCODE
|
||||
int cmd_urldecode(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv);
|
||||
# endif
|
||||
#endif
|
||||
|
||||
#endif /* __APPS_NSHLIB_NSH_H */
|
||||
|
|
|
@ -122,13 +122,28 @@ int nsh_execapp(FAR struct nsh_vtbl_s *vtbl, FAR const char *cmd,
|
|||
ret = exec_namedapp(cmd, (FAR const char **)argv);
|
||||
if (ret >= 0)
|
||||
{
|
||||
/* The application was successfully started (but still blocked because the
|
||||
* scheduler is locked). If the application was not backgrounded, then we
|
||||
* need to wait here for the application to exit.
|
||||
/* The application was successfully started (but still blocked because
|
||||
* the scheduler is locked). If the application was not backgrounded,
|
||||
* then we need to wait here for the application to exit. These really
|
||||
* only works works with the following options:
|
||||
*
|
||||
* - CONFIG_NSH_DISABLEBG - Do not run commands in background
|
||||
* - CONFIG_SCHED_WAITPID - Required to run external commands in
|
||||
* foreground
|
||||
*
|
||||
* These concepts do not apply cleanly to the external applications.
|
||||
*/
|
||||
|
||||
#ifdef CONFIG_SCHED_WAITPID
|
||||
|
||||
/* CONFIG_SCHED_WAITPID is selected, so we may run the command in
|
||||
* foreground unless we were specifically requested to run the command
|
||||
* in background (and running commands in background is enabled).
|
||||
*/
|
||||
|
||||
# ifndef CONFIG_NSH_DISABLEBG
|
||||
if (vtbl->np.np_bg == false)
|
||||
# endif /* CONFIG_NSH_DISABLEBG */
|
||||
{
|
||||
int rc = 0;
|
||||
|
||||
|
@ -155,8 +170,25 @@ int nsh_execapp(FAR struct nsh_vtbl_s *vtbl, FAR const char *cmd,
|
|||
*/
|
||||
}
|
||||
}
|
||||
# ifndef CONFIG_NSH_DISABLEBG
|
||||
else
|
||||
#endif
|
||||
# endif /* CONFIG_NSH_DISABLEBG */
|
||||
#endif /* CONFIG_SCHED_WAITPID */
|
||||
|
||||
/* We get here if either:
|
||||
*
|
||||
* - CONFIG_SCHED_WAITPID is not selected meaning that all commands
|
||||
* have to be run in background, or
|
||||
* - CONFIG_SCHED_WAITPID and CONFIG_NSH_DISABLEBG are both selected, but the
|
||||
* user requested to run the command in background.
|
||||
*
|
||||
* NOTE that the case of a) CONFIG_SCHED_WAITPID is not selected and
|
||||
* b) CONFIG_NSH_DISABLEBG selected cannot be supported. In that event, all
|
||||
* commands will have to run in background. The waitpid() API must be
|
||||
* available to support running the command in foreground.
|
||||
*/
|
||||
|
||||
#if !defined(CONFIG_SCHED_WAITPID) || !defined(CONFIG_NSH_DISABLEBG)
|
||||
{
|
||||
struct sched_param param;
|
||||
sched_getparam(0, ¶m);
|
||||
|
@ -168,6 +200,7 @@ int nsh_execapp(FAR struct nsh_vtbl_s *vtbl, FAR const char *cmd,
|
|||
|
||||
ret = OK;
|
||||
}
|
||||
#endif /* !CONFIG_SCHED_WAITPID || !CONFIG_NSH_DISABLEBG */
|
||||
}
|
||||
|
||||
sched_unlock();
|
||||
|
|
|
@ -160,11 +160,11 @@ int nsh_consolemain(int argc, char *argv[])
|
|||
}
|
||||
}
|
||||
|
||||
/* Clean up */
|
||||
/* Clean up. We do not get here, but this is necessary to keep some
|
||||
* compilers happy. But others will complain that this code is not
|
||||
* reachable.
|
||||
*/
|
||||
|
||||
nsh_exit(&pstate->cn_vtbl, 0);
|
||||
|
||||
/* We do not get here, but this is necessary to keep some compilers happy */
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
|
|
@ -46,6 +46,10 @@
|
|||
#include <string.h>
|
||||
#include <errno.h>
|
||||
|
||||
#if CONFIG_NFILE_DESCRIPTORS > 0
|
||||
# include <fcntl.h>
|
||||
#endif
|
||||
|
||||
#include "nsh.h"
|
||||
#include "nsh_console.h"
|
||||
|
||||
|
@ -99,7 +103,7 @@ int mem_parse(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv,
|
|||
pcvalue++;
|
||||
|
||||
lvalue = (unsigned long)strtol(pcvalue, NULL, 16);
|
||||
if (lvalue > 0xffffffff)
|
||||
if (lvalue > 0xffffffffL)
|
||||
{
|
||||
return -EINVAL;
|
||||
}
|
||||
|
@ -127,6 +131,7 @@ int mem_parse(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv,
|
|||
{
|
||||
mem->dm_count = 1;
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
|
@ -327,7 +332,7 @@ void nsh_dumpbuffer(FAR struct nsh_vtbl_s *vtbl, const char *msg,
|
|||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: cmd_xd
|
||||
* Name: cmd_xd, hex dump of memory
|
||||
****************************************************************************/
|
||||
|
||||
#ifndef CONFIG_NSH_DISABLE_XD
|
||||
|
@ -353,3 +358,58 @@ int cmd_xd(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
|
|||
return OK;
|
||||
}
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Name: cmd_hexdump, hex dump of files
|
||||
****************************************************************************/
|
||||
|
||||
#if CONFIG_NFILE_DESCRIPTORS > 0
|
||||
#ifndef CONFIG_NSH_DISABLE_HEXDUMP
|
||||
int cmd_hexdump(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
|
||||
{
|
||||
uint8_t buffer[IOBUFFERSIZE];
|
||||
char msg[32];
|
||||
int position;
|
||||
int fd;
|
||||
int ret = OK;
|
||||
|
||||
/* Open the file for reading */
|
||||
|
||||
fd = open(argv[1], O_RDONLY);
|
||||
if (fd < 0)
|
||||
{
|
||||
nsh_output(vtbl, g_fmtcmdfailed, "hexdump", "open", NSH_ERRNO);
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
position = 0;
|
||||
for (;;)
|
||||
{
|
||||
int nbytesread = read(fd, buffer, IOBUFFERSIZE);
|
||||
|
||||
/* Check for read errors */
|
||||
|
||||
if (nbytesread < 0)
|
||||
{
|
||||
int errval = errno;
|
||||
nsh_output(vtbl, g_fmtcmdfailed, "hexdump", "read", NSH_ERRNO_OF(errval));
|
||||
ret = ERROR;
|
||||
break;
|
||||
}
|
||||
else if (nbytesread > 0)
|
||||
{
|
||||
snprintf(msg, sizeof(msg), "%s at %08x", argv[1], position);
|
||||
nsh_dumpbuffer(vtbl, msg, buffer, nbytesread);
|
||||
position += nbytesread;
|
||||
}
|
||||
else
|
||||
{
|
||||
break; // EOF
|
||||
}
|
||||
}
|
||||
|
||||
(void)close(fd);
|
||||
return ret;
|
||||
}
|
||||
#endif
|
||||
#endif
|
||||
|
|
|
@ -51,6 +51,7 @@
|
|||
#include <fcntl.h> /* Needed for open */
|
||||
#include <libgen.h> /* Needed for basename */
|
||||
#include <errno.h>
|
||||
#include <debug.h>
|
||||
|
||||
#include <nuttx/net/net.h>
|
||||
#include <nuttx/clock.h>
|
||||
|
@ -80,6 +81,15 @@
|
|||
# endif
|
||||
#endif
|
||||
|
||||
#if defined(CONFIG_NSH_DHCPC) || defined(CONFIG_NSH_DNS)
|
||||
# ifdef CONFIG_HAVE_GETHOSTBYNAME
|
||||
# include <netdb.h>
|
||||
# else
|
||||
# include <apps/netutils/resolv.h>
|
||||
# endif
|
||||
# include <apps/netutils/dhcpc.h>
|
||||
#endif
|
||||
|
||||
#include "nsh.h"
|
||||
#include "nsh_console.h"
|
||||
|
||||
|
@ -87,8 +97,16 @@
|
|||
* Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/* Size of the ECHO data */
|
||||
|
||||
#define DEFAULT_PING_DATALEN 56
|
||||
|
||||
/* Get the larger value */
|
||||
|
||||
#ifndef MAX
|
||||
# define MAX(a,b) (a > b ? a : b)
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Private Types
|
||||
****************************************************************************/
|
||||
|
@ -262,14 +280,34 @@ int ifconfig_callback(FAR struct uip_driver_s *dev, void *arg)
|
|||
{
|
||||
struct nsh_vtbl_s *vtbl = (struct nsh_vtbl_s*)arg;
|
||||
struct in_addr addr;
|
||||
bool is_running = false;
|
||||
int ret;
|
||||
|
||||
ret = uip_getifstatus(dev->d_ifname,&is_running);
|
||||
if (ret != OK)
|
||||
{
|
||||
nsh_output(vtbl, "\tGet %s interface flags error: %d\n",
|
||||
dev->d_ifname, ret);
|
||||
}
|
||||
|
||||
nsh_output(vtbl, "%s\tHWaddr %s at %s\n",
|
||||
dev->d_ifname, ether_ntoa(&dev->d_mac), (is_running)?"UP":"DOWN");
|
||||
|
||||
nsh_output(vtbl, "%s\tHWaddr %s\n", dev->d_ifname, ether_ntoa(&dev->d_mac));
|
||||
addr.s_addr = dev->d_ipaddr;
|
||||
nsh_output(vtbl, "\tIPaddr:%s ", inet_ntoa(addr));
|
||||
|
||||
addr.s_addr = dev->d_draddr;
|
||||
nsh_output(vtbl, "DRaddr:%s ", inet_ntoa(addr));
|
||||
|
||||
addr.s_addr = dev->d_netmask;
|
||||
nsh_output(vtbl, "Mask:%s\n\n", inet_ntoa(addr));
|
||||
nsh_output(vtbl, "Mask:%s\n", inet_ntoa(addr));
|
||||
|
||||
#if defined(CONFIG_NSH_DHCPC) || defined(CONFIG_NSH_DNS)
|
||||
resolv_getserver(&addr);
|
||||
nsh_output(vtbl, "\tDNSaddr:%s\n", inet_ntoa(addr));
|
||||
#endif
|
||||
|
||||
nsh_output(vtbl, "\n");
|
||||
return OK;
|
||||
}
|
||||
|
||||
|
@ -468,6 +506,54 @@ int cmd_get(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
|
|||
#endif
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Name: cmd_ifup
|
||||
****************************************************************************/
|
||||
|
||||
#ifndef CONFIG_NSH_DISABLE_IFUPDOWN
|
||||
int cmd_ifup(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
|
||||
{
|
||||
FAR char *intf = NULL;
|
||||
int ret;
|
||||
|
||||
if (argc != 2)
|
||||
{
|
||||
nsh_output(vtbl, "Please select nic_name:\n");
|
||||
netdev_foreach(ifconfig_callback, vtbl);
|
||||
return OK;
|
||||
}
|
||||
|
||||
intf = argv[1];
|
||||
ret = uip_ifup(intf);
|
||||
nsh_output(vtbl, "ifup %s...%s\n", intf, (ret == OK) ? "OK" : "Failed");
|
||||
return ret;
|
||||
}
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Name: cmd_ifdown
|
||||
****************************************************************************/
|
||||
|
||||
#ifndef CONFIG_NSH_DISABLE_IFUPDOWN
|
||||
int cmd_ifdown(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
|
||||
{
|
||||
FAR char *intf = NULL;
|
||||
int ret;
|
||||
|
||||
if (argc != 2)
|
||||
{
|
||||
nsh_output(vtbl, "Please select nic_name:\n");
|
||||
netdev_foreach(ifconfig_callback, vtbl);
|
||||
return OK;
|
||||
}
|
||||
|
||||
intf = argv[1];
|
||||
ret = uip_ifdown(intf);
|
||||
nsh_output(vtbl, "ifdown %s...%s\n", intf, (ret == OK) ? "OK" : "Failed");
|
||||
return ret;
|
||||
}
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Name: cmd_ifconfig
|
||||
****************************************************************************/
|
||||
|
@ -476,7 +562,20 @@ int cmd_get(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
|
|||
int cmd_ifconfig(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
|
||||
{
|
||||
struct in_addr addr;
|
||||
in_addr_t ip;
|
||||
in_addr_t gip;
|
||||
int i;
|
||||
FAR char *intf = NULL;
|
||||
FAR char *hostip = NULL;
|
||||
FAR char *gwip = NULL;
|
||||
FAR char *mask = NULL;
|
||||
FAR char *tmp = NULL;
|
||||
FAR char *hw = NULL;
|
||||
FAR char *dns = NULL;
|
||||
bool badarg = false;
|
||||
uint8_t mac[IFHWADDRLEN];
|
||||
#if defined(CONFIG_NSH_DHCPC)
|
||||
FAR void *handle;
|
||||
#endif
|
||||
|
||||
/* With one or no arguments, ifconfig simply shows the status of ethernet
|
||||
* device:
|
||||
|
@ -498,24 +597,201 @@ int cmd_ifconfig(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
|
|||
* ifconfig nic_name ip_address
|
||||
*/
|
||||
|
||||
/* Set host ip address */
|
||||
if (argc > 2)
|
||||
{
|
||||
for(i = 0; i < argc; i++)
|
||||
{
|
||||
if (i == 1)
|
||||
{
|
||||
intf = argv[i];
|
||||
}
|
||||
else if (i == 2)
|
||||
{
|
||||
hostip = argv[i];
|
||||
}
|
||||
else
|
||||
{
|
||||
tmp = argv[i];
|
||||
if (!strcmp(tmp, "dr") || !strcmp(tmp, "gw") || !strcmp(tmp, "gateway"))
|
||||
{
|
||||
if (argc-1 >= i+1)
|
||||
{
|
||||
gwip = argv[i+1];
|
||||
i++;
|
||||
}
|
||||
else
|
||||
{
|
||||
badarg = true;
|
||||
}
|
||||
}
|
||||
else if(!strcmp(tmp, "netmask"))
|
||||
{
|
||||
if (argc-1 >= i+1)
|
||||
{
|
||||
mask = argv[i+1];
|
||||
i++;
|
||||
}
|
||||
else
|
||||
{
|
||||
badarg = true;
|
||||
}
|
||||
}
|
||||
else if(!strcmp(tmp, "hw"))
|
||||
{
|
||||
if (argc-1>=i+1)
|
||||
{
|
||||
hw = argv[i+1];
|
||||
i++;
|
||||
badarg = !uiplib_hwmacconv(hw, mac);
|
||||
}
|
||||
else
|
||||
{
|
||||
badarg = true;
|
||||
}
|
||||
}
|
||||
else if(!strcmp(tmp, "dns"))
|
||||
{
|
||||
if (argc-1 >= i+1)
|
||||
{
|
||||
dns = argv[i+1];
|
||||
i++;
|
||||
}
|
||||
else
|
||||
{
|
||||
badarg = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
ip = addr.s_addr = inet_addr(argv[2]);
|
||||
uip_sethostaddr(argv[1], &addr);
|
||||
if (badarg)
|
||||
{
|
||||
nsh_output(vtbl, g_fmtargrequired, argv[0]);
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
/* Set Hardware ethernet MAC addr */
|
||||
|
||||
if (hw)
|
||||
{
|
||||
ndbg("HW MAC: %s\n", hw);
|
||||
uip_setmacaddr(intf, mac);
|
||||
}
|
||||
|
||||
#if defined(CONFIG_NSH_DHCPC)
|
||||
if (!strcmp(hostip, "dhcp"))
|
||||
{
|
||||
/* Set DHCP addr */
|
||||
|
||||
ndbg("DHCPC Mode\n");
|
||||
gip = addr.s_addr = 0;
|
||||
}
|
||||
else
|
||||
#endif
|
||||
{
|
||||
/* Set host IP address */
|
||||
|
||||
ndbg("Host IP: %s\n", hostip);
|
||||
gip = addr.s_addr = inet_addr(hostip);
|
||||
}
|
||||
|
||||
uip_sethostaddr(intf, &addr);
|
||||
|
||||
/* Set gateway */
|
||||
|
||||
ip = NTOHL(ip);
|
||||
ip &= ~0x000000ff;
|
||||
ip |= 0x00000001;
|
||||
if (gwip)
|
||||
{
|
||||
ndbg("Gateway: %s\n", gwip);
|
||||
gip = addr.s_addr = inet_addr(gwip);
|
||||
}
|
||||
else
|
||||
{
|
||||
if (gip)
|
||||
{
|
||||
ndbg("Gateway: default\n");
|
||||
gip = NTOHL(gip);
|
||||
gip &= ~0x000000ff;
|
||||
gip |= 0x00000001;
|
||||
gip = HTONL(gip);
|
||||
}
|
||||
|
||||
addr.s_addr = HTONL(ip);
|
||||
uip_setdraddr(argv[1], &addr);
|
||||
addr.s_addr = gip;
|
||||
}
|
||||
|
||||
/* Set netmask */
|
||||
uip_setdraddr(intf, &addr);
|
||||
|
||||
addr.s_addr = inet_addr("255.255.255.0");
|
||||
uip_setnetmask(argv[1], &addr);
|
||||
/* Set network mask */
|
||||
|
||||
if (mask)
|
||||
{
|
||||
ndbg("Netmask: %s\n",mask);
|
||||
addr.s_addr = inet_addr(mask);
|
||||
}
|
||||
else
|
||||
{
|
||||
ndbg("Netmask: Default\n");
|
||||
addr.s_addr = inet_addr("255.255.255.0");
|
||||
}
|
||||
|
||||
uip_setnetmask(intf, &addr);
|
||||
|
||||
#if defined(CONFIG_NSH_DHCPC) || defined(CONFIG_NSH_DNS)
|
||||
if (dns)
|
||||
{
|
||||
ndbg("DNS: %s\n", dns);
|
||||
addr.s_addr = inet_addr(dns);
|
||||
}
|
||||
else
|
||||
{
|
||||
ndbg("DNS: Default\n");
|
||||
addr.s_addr = gip;
|
||||
}
|
||||
|
||||
resolv_conf(&addr);
|
||||
#endif
|
||||
|
||||
#if defined(CONFIG_NSH_DHCPC)
|
||||
/* Get the MAC address of the NIC */
|
||||
|
||||
if (!gip)
|
||||
{
|
||||
uip_getmacaddr("eth0", mac);
|
||||
|
||||
/* Set up the DHCPC modules */
|
||||
|
||||
handle = dhcpc_open(&mac, IFHWADDRLEN);
|
||||
|
||||
/* Get an IP address. Note that there is no logic for renewing the IP address in this
|
||||
* example. The address should be renewed in ds.lease_time/2 seconds.
|
||||
*/
|
||||
|
||||
if (handle)
|
||||
{
|
||||
struct dhcpc_state ds;
|
||||
|
||||
(void)dhcpc_request(handle, &ds);
|
||||
uip_sethostaddr("eth0", &ds.ipaddr);
|
||||
|
||||
if (ds.netmask.s_addr != 0)
|
||||
{
|
||||
uip_setnetmask("eth0", &ds.netmask);
|
||||
}
|
||||
|
||||
if (ds.default_router.s_addr != 0)
|
||||
{
|
||||
uip_setdraddr("eth0", &ds.default_router);
|
||||
}
|
||||
|
||||
if (ds.dnsaddr.s_addr != 0)
|
||||
{
|
||||
resolv_conf(&ds.dnsaddr);
|
||||
}
|
||||
|
||||
dhcpc_close(handle);
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
@ -536,6 +812,7 @@ int cmd_ping(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
|
|||
uint32_t start;
|
||||
uint32_t next;
|
||||
uint32_t dsec = 10;
|
||||
uint32_t maxwait;
|
||||
uint16_t id;
|
||||
bool badarg = false;
|
||||
int count = 10;
|
||||
|
@ -599,7 +876,7 @@ int cmd_ping(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
|
|||
if (optind == argc-1)
|
||||
{
|
||||
staddr = argv[optind];
|
||||
if (!uiplib_ipaddrconv(staddr, (FAR unsigned char*)&ipaddr))
|
||||
if (dns_gethostip(staddr, &ipaddr) < 0)
|
||||
{
|
||||
goto errout;
|
||||
}
|
||||
|
@ -619,16 +896,26 @@ int cmd_ping(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
|
|||
|
||||
id = ping_newid();
|
||||
|
||||
/* The maximum wait for a response will be the larger of the inter-ping time and
|
||||
* the configured maximum round-trip time.
|
||||
*/
|
||||
|
||||
maxwait = MAX(dsec, CONFIG_NSH_MAX_ROUNDTRIP);
|
||||
|
||||
/* Loop for the specified count */
|
||||
|
||||
nsh_output(vtbl, "PING %s %d bytes of data\n", staddr, DEFAULT_PING_DATALEN);
|
||||
nsh_output(vtbl, "PING %d.%d.%d.%d %d bytes of data\n",
|
||||
(ipaddr ) & 0xff, (ipaddr >> 8 ) & 0xff,
|
||||
(ipaddr >> 16 ) & 0xff, (ipaddr >> 24 ) & 0xff,
|
||||
DEFAULT_PING_DATALEN);
|
||||
|
||||
start = g_system_timer;
|
||||
for (i = 1; i <= count; i++)
|
||||
{
|
||||
/* Send the ECHO request and wait for the response */
|
||||
|
||||
next = g_system_timer;
|
||||
seqno = uip_ping(ipaddr, id, i, DEFAULT_PING_DATALEN, dsec);
|
||||
seqno = uip_ping(ipaddr, id, i, DEFAULT_PING_DATALEN, maxwait);
|
||||
|
||||
/* Was any response returned? We can tell if a non-negative sequence
|
||||
* number was returned.
|
||||
|
@ -636,7 +923,7 @@ int cmd_ping(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
|
|||
|
||||
if (seqno >= 0 && seqno <= i)
|
||||
{
|
||||
/* Get the elpased time from the time that the request was
|
||||
/* Get the elapsed time from the time that the request was
|
||||
* sent until the response was received. If we got a response
|
||||
* to an earlier request, then fudge the elpased time.
|
||||
*/
|
||||
|
@ -644,7 +931,7 @@ int cmd_ping(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
|
|||
elapsed = TICK2MSEC(g_system_timer - next);
|
||||
if (seqno < i)
|
||||
{
|
||||
elapsed += 100*dsec*(i - seqno);
|
||||
elapsed += 100 * dsec * (i - seqno);
|
||||
}
|
||||
|
||||
/* Report the receipt of the reply */
|
||||
|
@ -662,7 +949,7 @@ int cmd_ping(FAR struct nsh_vtbl_s *vtbl, int argc, char **argv)
|
|||
elapsed = TICK2DSEC(g_system_timer - next);
|
||||
if (elapsed < dsec)
|
||||
{
|
||||
usleep(100000*dsec);
|
||||
usleep(100000 * (dsec - elapsed));
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
@ -47,7 +47,7 @@
|
|||
#include <net/if.h>
|
||||
|
||||
#include <apps/netutils/uiplib.h>
|
||||
#if defined(CONFIG_NSH_DHCPC)
|
||||
#if defined(CONFIG_NSH_DHCPC) || defined(CONFIG_NSH_DNS)
|
||||
# include <apps/netutils/resolv.h>
|
||||
# include <apps/netutils/dhcpc.h>
|
||||
#endif
|
||||
|
@ -60,6 +60,10 @@
|
|||
* Definitions
|
||||
****************************************************************************/
|
||||
|
||||
#if defined(CONFIG_NSH_DRIPADDR) && !defined(CONFIG_NSH_DNSIPADDR)
|
||||
# define CONFIG_NSH_DNSIPADDR CONFIG_NSH_DRIPADDR
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Private Types
|
||||
****************************************************************************/
|
||||
|
@ -125,10 +129,14 @@ int nsh_netinit(void)
|
|||
addr.s_addr = HTONL(CONFIG_NSH_NETMASK);
|
||||
uip_setnetmask("eth0", &addr);
|
||||
|
||||
#if defined(CONFIG_NSH_DHCPC)
|
||||
#if defined(CONFIG_NSH_DHCPC) || defined(CONFIG_NSH_DNS)
|
||||
/* Set up the resolver */
|
||||
|
||||
resolv_init();
|
||||
#if defined(CONFIG_NSH_DNS)
|
||||
addr.s_addr = HTONL(CONFIG_NSH_DNSIPADDR);
|
||||
resolv_conf(&addr);
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#if defined(CONFIG_NSH_DHCPC)
|
||||
|
@ -148,7 +156,7 @@ int nsh_netinit(void)
|
|||
{
|
||||
struct dhcpc_state ds;
|
||||
(void)dhcpc_request(handle, &ds);
|
||||
uip_sethostaddr("eth1", &ds.ipaddr);
|
||||
uip_sethostaddr("eth0", &ds.ipaddr);
|
||||
if (ds.netmask.s_addr != 0)
|
||||
{
|
||||
uip_setnetmask("eth0", &ds.netmask);
|
||||
|
|
|
@ -73,19 +73,19 @@
|
|||
/* Argument list size
|
||||
*
|
||||
* argv[0]: The command name.
|
||||
* argv[1]: The beginning of argument (up to NSH_MAX_ARGUMENTS)
|
||||
* argv[1]: The beginning of argument (up to CONFIG_NSH_MAXARGUMENTS)
|
||||
* argv[argc-3]: Possibly '>' or '>>'
|
||||
* argv[argc-2]: Possibly <file>
|
||||
* argv[argc-1]: Possibly '&' (if pthreads are enabled)
|
||||
* argv[argc]: NULL terminating pointer
|
||||
*
|
||||
* Maximum size is NSH_MAX_ARGUMENTS+5
|
||||
* Maximum size is CONFIG_NSH_MAXARGUMENTS+5
|
||||
*/
|
||||
|
||||
#ifndef CONFIG_NSH_DISABLEBG
|
||||
# define MAX_ARGV_ENTRIES (NSH_MAX_ARGUMENTS+5)
|
||||
# define MAX_ARGV_ENTRIES (CONFIG_NSH_MAXARGUMENTS+5)
|
||||
#else
|
||||
# define MAX_ARGV_ENTRIES (NSH_MAX_ARGUMENTS+4)
|
||||
# define MAX_ARGV_ENTRIES (CONFIG_NSH_MAXARGUMENTS+4)
|
||||
#endif
|
||||
|
||||
/* Help command summary layout */
|
||||
|
@ -146,16 +146,25 @@ static const char g_failure[] = "1";
|
|||
static const struct cmdmap_s g_cmdmap[] =
|
||||
{
|
||||
#if !defined(CONFIG_NSH_DISABLESCRIPT) && !defined(CONFIG_NSH_DISABLE_TEST)
|
||||
{ "[", cmd_lbracket, 4, NSH_MAX_ARGUMENTS, "<expression> ]" },
|
||||
{ "[", cmd_lbracket, 4, CONFIG_NSH_MAXARGUMENTS, "<expression> ]" },
|
||||
#endif
|
||||
|
||||
#ifndef CONFIG_NSH_DISABLE_HELP
|
||||
{ "?", cmd_help, 1, 1, NULL },
|
||||
#endif
|
||||
|
||||
#if defined(CONFIG_NETUTILS_CODECS) && defined(CONFIG_CODECS_BASE64)
|
||||
# ifndef CONFIG_NSH_DISABLE_BASE64DEC
|
||||
{ "base64dec", cmd_base64decode, 2, 4, "[-w] [-f] <string or filepath>" },
|
||||
# endif
|
||||
# ifndef CONFIG_NSH_DISABLE_BASE64ENC
|
||||
{ "base64enc", cmd_base64encode, 2, 4, "[-w] [-f] <string or filepath>" },
|
||||
# endif
|
||||
#endif
|
||||
|
||||
#if CONFIG_NFILE_DESCRIPTORS > 0
|
||||
# ifndef CONFIG_NSH_DISABLE_CAT
|
||||
{ "cat", cmd_cat, 2, NSH_MAX_ARGUMENTS, "<path> [<path> [<path> ...]]" },
|
||||
{ "cat", cmd_cat, 2, CONFIG_NSH_MAXARGUMENTS, "<path> [<path> [<path> ...]]" },
|
||||
# endif
|
||||
#ifndef CONFIG_DISABLE_ENVIRON
|
||||
# ifndef CONFIG_NSH_DISABLE_CD
|
||||
|
@ -187,9 +196,9 @@ static const struct cmdmap_s g_cmdmap[] =
|
|||
|
||||
#ifndef CONFIG_NSH_DISABLE_ECHO
|
||||
# ifndef CONFIG_DISABLE_ENVIRON
|
||||
{ "echo", cmd_echo, 0, NSH_MAX_ARGUMENTS, "[<string|$name> [<string|$name>...]]" },
|
||||
{ "echo", cmd_echo, 0, CONFIG_NSH_MAXARGUMENTS, "[<string|$name> [<string|$name>...]]" },
|
||||
# else
|
||||
{ "echo", cmd_echo, 0, NSH_MAX_ARGUMENTS, "[<string> [<string>...]]" },
|
||||
{ "echo", cmd_echo, 0, CONFIG_NSH_MAXARGUMENTS, "[<string> [<string>...]]" },
|
||||
# endif
|
||||
#endif
|
||||
|
||||
|
@ -217,10 +226,20 @@ static const struct cmdmap_s g_cmdmap[] =
|
|||
{ "help", cmd_help, 1, 3, "[-v] [<cmd>]" },
|
||||
# endif
|
||||
#endif
|
||||
|
||||
#if CONFIG_NFILE_DESCRIPTORS > 0
|
||||
#ifndef CONFIG_NSH_DISABLE_HEXDUMP
|
||||
{ "hexdump", cmd_hexdump, 2, 2, "<file or device>" },
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_NET
|
||||
# ifndef CONFIG_NSH_DISABLE_IFCONFIG
|
||||
{ "ifconfig", cmd_ifconfig, 1, 3, "[nic_name [ip]]" },
|
||||
{ "ifconfig", cmd_ifconfig, 1, 11, "[nic_name [<ip-address>|dhcp]] [dr|gw|gateway <dr-address>] [netmask <net-mask>] [dns <dns-address>] [hw <hw-mac>]" },
|
||||
# endif
|
||||
# ifndef CONFIG_NSH_DISABLE_IFUPDOWN
|
||||
{ "ifdown", cmd_ifdown, 2, 2, "<nic_name>" },
|
||||
{ "ifup", cmd_ifup, 2, 2, "<nic_name>" },
|
||||
# endif
|
||||
#endif
|
||||
|
||||
|
@ -246,6 +265,12 @@ static const struct cmdmap_s g_cmdmap[] =
|
|||
{ "mb", cmd_mb, 2, 3, "<hex-address>[=<hex-value>][ <hex-byte-count>]" },
|
||||
#endif
|
||||
|
||||
#if defined(CONFIG_NETUTILS_CODECS) && defined(CONFIG_CODECS_HASH_MD5)
|
||||
# ifndef CONFIG_NSH_DISABLE_MD5
|
||||
{ "md5", cmd_md5, 2, 3, "[-f] <string or filepath>" },
|
||||
# endif
|
||||
#endif
|
||||
|
||||
#if !defined(CONFIG_DISABLE_MOUNTPOINT) && CONFIG_NFILE_DESCRIPTORS > 0 && defined(CONFIG_FS_WRITABLE)
|
||||
# ifndef CONFIG_NSH_DISABLE_MKDIR
|
||||
{ "mkdir", cmd_mkdir, 2, 2, "<path>" },
|
||||
|
@ -348,7 +373,7 @@ static const struct cmdmap_s g_cmdmap[] =
|
|||
#endif
|
||||
|
||||
#if !defined(CONFIG_NSH_DISABLESCRIPT) && !defined(CONFIG_NSH_DISABLE_TEST)
|
||||
{ "test", cmd_test, 3, NSH_MAX_ARGUMENTS, "<expression>" },
|
||||
{ "test", cmd_test, 3, CONFIG_NSH_MAXARGUMENTS, "<expression>" },
|
||||
#endif
|
||||
|
||||
#if !defined(CONFIG_DISABLE_MOUNTPOINT) && CONFIG_NFILE_DESCRIPTORS > 0 && defined(CONFIG_FS_READABLE)
|
||||
|
@ -363,6 +388,15 @@ static const struct cmdmap_s g_cmdmap[] =
|
|||
# endif
|
||||
#endif
|
||||
|
||||
#if defined(CONFIG_NETUTILS_CODECS) && defined(CONFIG_CODECS_URLCODE)
|
||||
# ifndef CONFIG_NSH_DISABLE_URLDECODE
|
||||
{ "urldecode", cmd_urldecode, 2, 3, "[-f] <string or filepath>" },
|
||||
# endif
|
||||
# ifndef CONFIG_NSH_DISABLE_URLENCODE
|
||||
{ "urlencode", cmd_urlencode, 2, 3, "[-f] <string or filepath>" },
|
||||
# endif
|
||||
#endif
|
||||
|
||||
#ifndef CONFIG_DISABLE_SIGNALS
|
||||
# ifndef CONFIG_NSH_DISABLE_USLEEP
|
||||
{ "usleep", cmd_usleep, 2, 2, "<usec>" },
|
||||
|
@ -378,6 +412,7 @@ static const struct cmdmap_s g_cmdmap[] =
|
|||
#ifndef CONFIG_NSH_DISABLE_XD
|
||||
{ "xd", cmd_xd, 3, 3, "<hex-address> <byte-count>" },
|
||||
#endif
|
||||
|
||||
{ NULL, NULL, 1, 1, NULL }
|
||||
};
|
||||
|
||||
|
@ -711,7 +746,7 @@ static int nsh_execute(FAR struct nsh_vtbl_s *vtbl, int argc, char *argv[])
|
|||
*
|
||||
* argv[0]: The command name. This is argv[0] when the arguments
|
||||
* are, finally, received by the command vtblr
|
||||
* argv[1]: The beginning of argument (up to NSH_MAX_ARGUMENTS)
|
||||
* argv[1]: The beginning of argument (up to CONFIG_NSH_MAXARGUMENTS)
|
||||
* argv[argc]: NULL terminating pointer
|
||||
*/
|
||||
|
||||
|
@ -1318,13 +1353,13 @@ int nsh_parse(FAR struct nsh_vtbl_s *vtbl, char *cmdline)
|
|||
* of argv is:
|
||||
*
|
||||
* argv[0]: The command name.
|
||||
* argv[1]: The beginning of argument (up to NSH_MAX_ARGUMENTS)
|
||||
* argv[1]: The beginning of argument (up to CONFIG_NSH_MAXARGUMENTS)
|
||||
* argv[argc-3]: Possibly '>' or '>>'
|
||||
* argv[argc-2]: Possibly <file>
|
||||
* argv[argc-1]: Possibly '&'
|
||||
* argv[argc]: NULL terminating pointer
|
||||
*
|
||||
* Maximum size is NSH_MAX_ARGUMENTS+5
|
||||
* Maximum size is CONFIG_NSH_MAXARGUMENTS+5
|
||||
*/
|
||||
|
||||
argv[0] = cmd;
|
||||
|
@ -1398,7 +1433,7 @@ int nsh_parse(FAR struct nsh_vtbl_s *vtbl, char *cmdline)
|
|||
|
||||
/* Check if the maximum number of arguments was exceeded */
|
||||
|
||||
if (argc > NSH_MAX_ARGUMENTS)
|
||||
if (argc > CONFIG_NSH_MAXARGUMENTS)
|
||||
{
|
||||
nsh_output(vtbl, g_fmttoomanyargs, cmd);
|
||||
}
|
||||
|
|
|
@ -53,96 +53,40 @@
|
|||
#include "tests.h"
|
||||
|
||||
#include <nuttx/analog/adc.h>
|
||||
#include <drivers/drv_adc.h>
|
||||
#include <systemlib/err.h>
|
||||
|
||||
int test_adc(int argc, char *argv[])
|
||||
{
|
||||
int fd0 = 0;
|
||||
int ret = 0;
|
||||
int fd = open(ADC_DEVICE_PATH, O_RDONLY);
|
||||
|
||||
#pragma pack(push,1)
|
||||
struct adc_msg4_s {
|
||||
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)
|
||||
if (fd < 0)
|
||||
err(1, "can't open ADC device");
|
||||
|
||||
struct adc_msg4_s sample1;
|
||||
for (unsigned i = 0; i < 5; i++) {
|
||||
/* make space for a maximum of eight channels */
|
||||
struct adc_msg_s data[8];
|
||||
/* read all channels available */
|
||||
ssize_t count = read(fd, data, sizeof(data));
|
||||
|
||||
ssize_t nbytes;
|
||||
int j;
|
||||
int errval;
|
||||
if (count < 0)
|
||||
goto errout_with_dev;
|
||||
|
||||
fd0 = open("/dev/adc0", O_RDONLY | O_NONBLOCK);
|
||||
unsigned channels = count / sizeof(data[0]);
|
||||
|
||||
if (fd0 <= 0) {
|
||||
message("/dev/adc0 open fail: %d\n", errno);
|
||||
return ERROR;
|
||||
|
||||
} else {
|
||||
message("opened /dev/adc0 successfully\n");
|
||||
}
|
||||
usleep(10000);
|
||||
|
||||
for (j = 0; j < 10; j++) {
|
||||
|
||||
/* sleep 20 milliseconds */
|
||||
usleep(20000);
|
||||
nbytes = read(fd0, &sample1, sizeof(sample1));
|
||||
|
||||
/* Handle unexpected return values */
|
||||
|
||||
if (nbytes < 0) {
|
||||
errval = errno;
|
||||
|
||||
if (errval != EINTR) {
|
||||
message("reading /dev/adc0 failed: %d\n", errval);
|
||||
errval = 3;
|
||||
goto errout_with_dev;
|
||||
}
|
||||
|
||||
message("\tinterrupted read..\n");
|
||||
|
||||
} else if (nbytes == 0) {
|
||||
message("\tno data read, ignoring.\n");
|
||||
ret = ERROR;
|
||||
for (unsigned j = 0; j < channels; j++) {
|
||||
printf("%d: %u ", data[j].am_channel, data[j].am_data);
|
||||
}
|
||||
|
||||
/* Print the sample data on successful return */
|
||||
|
||||
else {
|
||||
if (nbytes != sizeof(sample1)) {
|
||||
message("\tsample 1 size %d is not matching struct size %d, ignoring\n",
|
||||
nbytes, sizeof(sample1));
|
||||
ret = ERROR;
|
||||
|
||||
} else {
|
||||
|
||||
message("CYCLE %d:\n", j);
|
||||
|
||||
message("channel: %d value: %d\n",
|
||||
(int)sample1.am_channel1, sample1.am_data1);
|
||||
message("channel: %d value: %d\n",
|
||||
(int)sample1.am_channel2, sample1.am_data2);
|
||||
message("channel: %d value: %d\n",
|
||||
(int)sample1.am_channel3, sample1.am_data3);
|
||||
message("channel: %d value: %d\n",
|
||||
(int)sample1.am_channel4, sample1.am_data4);
|
||||
}
|
||||
}
|
||||
fflush(stdout);
|
||||
printf("\n");
|
||||
usleep(150000);
|
||||
}
|
||||
|
||||
message("\t ADC test successful.\n");
|
||||
|
||||
errout_with_dev:
|
||||
|
||||
if (fd0 != 0) close(fd0);
|
||||
if (fd != 0) close(fd);
|
||||
|
||||
return ret;
|
||||
return OK;
|
||||
}
|
||||
|
|
|
@ -240,5 +240,5 @@ test_bson(int argc, char *argv[])
|
|||
decode(&decoder);
|
||||
free(buf);
|
||||
|
||||
exit(0);
|
||||
return OK;
|
||||
}
|
|
@ -52,7 +52,8 @@
|
|||
#include "tests.h"
|
||||
|
||||
#include <nuttx/analog/adc.h>
|
||||
|
||||
#include <drivers/drv_adc.h>
|
||||
#include <systemlib/err.h>
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
|
@ -89,129 +90,79 @@
|
|||
|
||||
int test_jig_voltages(int argc, char *argv[])
|
||||
{
|
||||
int fd0 = 0;
|
||||
int ret = OK;
|
||||
const int nchannels = 4;
|
||||
int fd = open(ADC_DEVICE_PATH, O_RDONLY);
|
||||
int ret = OK;
|
||||
|
||||
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__));;
|
||||
|
||||
struct adc_msg4_s sample1[4];
|
||||
|
||||
size_t readsize;
|
||||
ssize_t nbytes;
|
||||
int i = 0;
|
||||
int j = 0;
|
||||
int errval;
|
||||
|
||||
char name[11];
|
||||
sprintf(name, "/dev/adc%d", j);
|
||||
fd0 = open(name, O_RDONLY | O_NONBLOCK);
|
||||
if (fd0 < 0)
|
||||
{
|
||||
printf("ADC: %s open fail\n", name);
|
||||
return ERROR;
|
||||
} else {
|
||||
printf("Opened %s successfully\n", name);
|
||||
if (fd < 0) {
|
||||
warnx("can't open ADC device");
|
||||
return 1;
|
||||
}
|
||||
|
||||
/* make space for a maximum of eight channels */
|
||||
struct adc_msg_s data[8];
|
||||
/* read all channels available */
|
||||
ssize_t count = read(fd, data, sizeof(data));
|
||||
|
||||
if (count < 0) {
|
||||
close(fd);
|
||||
warnx("can't read from ADC driver. Forgot 'adc start' command?");
|
||||
return 1;
|
||||
}
|
||||
|
||||
unsigned channels = count / sizeof(data[0]);
|
||||
|
||||
for (unsigned j = 0; j < channels; j++) {
|
||||
printf("%d: %u ", data[j].am_channel, data[j].am_data);
|
||||
}
|
||||
|
||||
printf("\n");
|
||||
|
||||
warnx("\t ADC operational.\n");
|
||||
|
||||
/* Expected values */
|
||||
int16_t expected_min[] = {2700, 2700, 2200, 2000};
|
||||
int16_t expected_max[] = {3000, 3000, 2500, 2200};
|
||||
char* check_res[nchannels];
|
||||
int16_t expected_min[] = {2800, 2800, 1800, 800};
|
||||
int16_t expected_max[] = {3100, 3100, 2100, 1100};
|
||||
char *check_res[channels];
|
||||
|
||||
/* first adc read round */
|
||||
readsize = 4 * sizeof(struct adc_msg_s);
|
||||
if (channels < 4) {
|
||||
close(fd);
|
||||
warnx("not all four test channels available, aborting.");
|
||||
return 1;
|
||||
|
||||
/* Empty all buffers */
|
||||
do {
|
||||
nbytes = read(fd0, sample1, readsize);
|
||||
} else {
|
||||
/* Check values */
|
||||
check_res[0] = (expected_min[0] < data[0].am_data && expected_max[0] > data[0].am_data) ? "OK" : "FAIL";
|
||||
check_res[1] = (expected_min[1] < data[1].am_data && expected_max[1] > data[1].am_data) ? "OK" : "FAIL";
|
||||
check_res[2] = (expected_min[2] < data[2].am_data && expected_max[2] > data[2].am_data) ? "OK" : "FAIL";
|
||||
check_res[3] = (expected_min[3] < data[3].am_data && expected_max[3] > data[3].am_data) ? "OK" : "FAIL";
|
||||
|
||||
/* Accumulate result */
|
||||
ret += (expected_min[0] > data[0].am_data || expected_max[0] < data[0].am_data) ? 1 : 0;
|
||||
ret += (expected_min[1] > data[1].am_data || expected_max[1] < data[1].am_data) ? 1 : 0;
|
||||
ret += (expected_min[2] > data[2].am_data || expected_max[2] < data[2].am_data) ? 1 : 0;
|
||||
ret += (expected_min[3] > data[3].am_data || expected_max[3] < data[3].am_data) ? 1 : 0;
|
||||
|
||||
message("Sample:");
|
||||
message("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
|
||||
data[0].am_channel, (int)(data[0].am_data), expected_min[0], expected_max[0], check_res[0]);
|
||||
message("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
|
||||
data[1].am_channel, (int)(data[1].am_data), expected_min[1], expected_max[1], check_res[1]);
|
||||
message("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
|
||||
data[2].am_channel, (int)(data[2].am_data), expected_min[2], expected_max[2], check_res[2]);
|
||||
message("channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
|
||||
data[3].am_channel, (int)(data[3].am_data), expected_min[3], expected_max[3], check_res[3]);
|
||||
|
||||
if (ret != OK) {
|
||||
printf("\t JIG voltages test FAILED. Some channels where out of allowed range. Check supply voltages.\n");
|
||||
goto errout_with_dev;
|
||||
}
|
||||
}
|
||||
while (nbytes > 0);
|
||||
|
||||
up_udelay(20000);//microseconds
|
||||
/* Take measurements */
|
||||
nbytes = read(fd0, sample1, readsize);
|
||||
printf("\t JIG voltages test successful.\n");
|
||||
|
||||
/* Handle unexpected return values */
|
||||
errout_with_dev:
|
||||
|
||||
if (nbytes <= 0)
|
||||
{
|
||||
errval = errno;
|
||||
if (errval != EINTR)
|
||||
{
|
||||
message("read %s failed: %d\n",
|
||||
name, errval);
|
||||
errval = 3;
|
||||
goto errout_with_dev;
|
||||
}
|
||||
|
||||
message("\tInterrupted read...\n");
|
||||
}
|
||||
else if (nbytes == 0)
|
||||
{
|
||||
message("\tNo data read, Ignoring\n");
|
||||
}
|
||||
|
||||
/* 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));
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Check values */
|
||||
check_res[0] = (expected_min[0] < sample1[i].am_data1 && expected_max[0] > sample1[i].am_data1) ? "OK" : "FAIL";
|
||||
check_res[1] = (expected_min[1] < sample1[i].am_data2 && expected_max[1] > sample1[i].am_data2) ? "OK" : "FAIL";
|
||||
check_res[2] = (expected_min[2] < sample1[i].am_data3 && expected_max[2] > sample1[i].am_data3) ? "OK" : "FAIL";
|
||||
check_res[3] = (expected_min[3] < sample1[i].am_data4 && expected_max[3] > sample1[i].am_data4) ? "OK" : "FAIL";
|
||||
|
||||
/* Accumulate result */
|
||||
ret += (expected_min[0] > sample1[i].am_data1 || expected_max[0] < sample1[i].am_data1) ? 1 : 0;
|
||||
// XXX Chan 11 not connected on test setup
|
||||
//ret += (expected_min[1] > sample1[i].am_data2 || expected_max[1] < sample1[i].am_data2) ? 1 : 0;
|
||||
ret += (expected_min[2] > sample1[i].am_data3 || expected_max[2] < sample1[i].am_data3) ? 1 : 0;
|
||||
ret += (expected_min[3] > sample1[i].am_data4 || expected_max[3] < sample1[i].am_data4) ? 1 : 0;
|
||||
|
||||
message("Sample:");
|
||||
message("%d: channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
|
||||
i, sample1[i].am_channel1, sample1[i].am_data1, expected_min[0], expected_max[0], check_res[0]);
|
||||
message("Sample:");
|
||||
message("%d: channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
|
||||
i, sample1[i].am_channel2, sample1[i].am_data2, expected_min[1], expected_max[1], check_res[1]);
|
||||
message("Sample:");
|
||||
message("%d: channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
|
||||
i, sample1[i].am_channel3, sample1[i].am_data3, expected_min[2], expected_max[2], check_res[2]);
|
||||
message("Sample:");
|
||||
message("%d: channel: %d value: %d (allowed min: %d, allowed max: %d), result: %s\n",
|
||||
i, sample1[i].am_channel4, sample1[i].am_data4, expected_min[3], expected_max[3], check_res[3]);
|
||||
|
||||
if (ret != OK) {
|
||||
printf("\t ADC test FAILED. Some channels where out of allowed range. Check supply voltages.\n");
|
||||
goto errout_with_dev;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
printf("\t ADC test successful.\n");
|
||||
|
||||
errout_with_dev:
|
||||
if (fd0 != 0) close(fd0);
|
||||
if (fd != 0) close(fd);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
|
|
@ -90,9 +90,8 @@ int test_sleep(int argc, char *argv[])
|
|||
printf("\t %d 100ms sleeps\n", nsleeps);
|
||||
fflush(stdout);
|
||||
|
||||
for (int i = 0; i < nsleeps; i++) {
|
||||
for (unsigned int i = 0; i < nsleeps; i++) {
|
||||
usleep(100000);
|
||||
//printf("\ttick\n");
|
||||
}
|
||||
|
||||
printf("\t Sleep test successful.\n");
|
||||
|
|
|
@ -95,7 +95,7 @@ cycletime(void)
|
|||
|
||||
lasttime = cycles;
|
||||
|
||||
return (basetime + cycles) / 168;
|
||||
return (basetime + cycles) / 168; /* XXX magic number */
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
|
@ -133,9 +133,9 @@ int test_time(int argc, char *argv[])
|
|||
lowdelta = abs(delta / 100);
|
||||
|
||||
/* loop checking the time */
|
||||
for (unsigned i = 0; i < 100000; i++) {
|
||||
for (unsigned i = 0; i < 100; i++) {
|
||||
|
||||
usleep(rand() * 10);
|
||||
usleep(rand());
|
||||
|
||||
uint32_t flags = irqsave();
|
||||
|
||||
|
@ -154,7 +154,7 @@ int test_time(int argc, char *argv[])
|
|||
fprintf(stderr, "h %llu c %llu d %lld\n", h, c, delta - lowdelta);
|
||||
}
|
||||
|
||||
printf("Maximum jitter %lld\n", maxdelta);
|
||||
printf("Maximum jitter %lldus\n", maxdelta);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
|
|
@ -37,6 +37,7 @@
|
|||
* File write test.
|
||||
*/
|
||||
|
||||
#include <sys/stat.h>
|
||||
#include <stdio.h>
|
||||
#include <unistd.h>
|
||||
#include <fcntl.h>
|
||||
|
@ -51,6 +52,13 @@
|
|||
int
|
||||
test_file(int argc, char *argv[])
|
||||
{
|
||||
/* check if microSD card is mounted */
|
||||
struct stat buffer;
|
||||
if (stat("/fs/microsd/", &buffer)) {
|
||||
warnx("no microSD card mounted, aborting file test");
|
||||
return 1;
|
||||
}
|
||||
|
||||
uint8_t buf[512];
|
||||
hrt_abstime start, end;
|
||||
perf_counter_t wperf = perf_alloc(PC_ELAPSED, "SD writes");
|
||||
|
|
|
@ -78,43 +78,44 @@ static int test_jig(int argc, char *argv[]);
|
|||
* Private Data
|
||||
****************************************************************************/
|
||||
|
||||
struct {
|
||||
const struct {
|
||||
const char *name;
|
||||
int (* fn)(int argc, char *argv[]);
|
||||
unsigned options;
|
||||
int passed;
|
||||
#define OPT_NOHELP (1<<0)
|
||||
#define OPT_NOALLTEST (1<<1)
|
||||
#define OPT_NOJIGTEST (1<<2)
|
||||
} tests[] = {
|
||||
{"led", test_led, 0, 0},
|
||||
{"int", test_int, 0, 0},
|
||||
{"float", test_float, 0, 0},
|
||||
{"sensors", test_sensors, 0, 0},
|
||||
{"gpio", test_gpio, OPT_NOJIGTEST | OPT_NOALLTEST, 0},
|
||||
{"hrt", test_hrt, OPT_NOJIGTEST | OPT_NOALLTEST, 0},
|
||||
{"ppm", test_ppm, OPT_NOJIGTEST | OPT_NOALLTEST, 0},
|
||||
{"servo", test_servo, OPT_NOJIGTEST | OPT_NOALLTEST, 0},
|
||||
{"adc", test_adc, OPT_NOJIGTEST, 0},
|
||||
{"jig_voltages", test_jig_voltages, OPT_NOALLTEST, 0},
|
||||
{"uart_loopback", test_uart_loopback, OPT_NOJIGTEST | OPT_NOALLTEST, 0},
|
||||
{"uart_baudchange", test_uart_baudchange, OPT_NOJIGTEST | OPT_NOALLTEST, 0},
|
||||
{"uart_send", test_uart_send, OPT_NOJIGTEST | OPT_NOALLTEST, 0},
|
||||
{"uart_console", test_uart_console, OPT_NOJIGTEST | OPT_NOALLTEST, 0},
|
||||
{"hott_telemetry", test_hott_telemetry, OPT_NOJIGTEST | OPT_NOALLTEST, 0},
|
||||
{"tone", test_tone, 0, 0},
|
||||
{"sleep", test_sleep, OPT_NOJIGTEST, 0},
|
||||
{"time", test_time, OPT_NOJIGTEST, 0},
|
||||
{"perf", test_perf, OPT_NOJIGTEST, 0},
|
||||
{"all", test_all, OPT_NOALLTEST | OPT_NOJIGTEST, 0},
|
||||
{"jig", test_jig, OPT_NOJIGTEST | OPT_NOALLTEST, 0},
|
||||
{"param", test_param, 0, 0},
|
||||
{"bson", test_bson, 0, 0},
|
||||
{"file", test_file, 0, 0},
|
||||
{"help", test_help, OPT_NOALLTEST | OPT_NOHELP | OPT_NOJIGTEST, 0},
|
||||
{NULL, NULL, 0, 0}
|
||||
{"led", test_led, 0},
|
||||
{"int", test_int, 0},
|
||||
{"float", test_float, 0},
|
||||
{"sensors", test_sensors, 0},
|
||||
{"gpio", test_gpio, OPT_NOJIGTEST | OPT_NOALLTEST},
|
||||
{"hrt", test_hrt, OPT_NOJIGTEST | OPT_NOALLTEST},
|
||||
{"ppm", test_ppm, OPT_NOJIGTEST | OPT_NOALLTEST},
|
||||
{"servo", test_servo, OPT_NOJIGTEST | OPT_NOALLTEST},
|
||||
{"adc", test_adc, OPT_NOJIGTEST},
|
||||
{"jig_voltages", test_jig_voltages, OPT_NOALLTEST},
|
||||
{"uart_loopback", test_uart_loopback, OPT_NOJIGTEST | OPT_NOALLTEST},
|
||||
{"uart_baudchange", test_uart_baudchange, OPT_NOJIGTEST | OPT_NOALLTEST},
|
||||
{"uart_send", test_uart_send, OPT_NOJIGTEST | OPT_NOALLTEST},
|
||||
{"uart_console", test_uart_console, OPT_NOJIGTEST | OPT_NOALLTEST},
|
||||
{"hott_telemetry", test_hott_telemetry, OPT_NOJIGTEST | OPT_NOALLTEST},
|
||||
{"tone", test_tone, 0},
|
||||
{"sleep", test_sleep, OPT_NOJIGTEST},
|
||||
{"time", test_time, OPT_NOJIGTEST},
|
||||
{"perf", test_perf, OPT_NOJIGTEST},
|
||||
{"all", test_all, OPT_NOALLTEST | OPT_NOJIGTEST},
|
||||
{"jig", test_jig, OPT_NOJIGTEST | OPT_NOALLTEST},
|
||||
{"param", test_param, 0},
|
||||
{"bson", test_bson, 0},
|
||||
{"file", test_file, 0},
|
||||
{"help", test_help, OPT_NOALLTEST | OPT_NOHELP | OPT_NOJIGTEST},
|
||||
{NULL, NULL, 0}
|
||||
};
|
||||
|
||||
#define NTESTS (sizeof(tests) / sizeof(tests[0]))
|
||||
|
||||
static int
|
||||
test_help(int argc, char *argv[])
|
||||
{
|
||||
|
@ -134,6 +135,7 @@ test_all(int argc, char *argv[])
|
|||
unsigned i;
|
||||
char *args[2] = {"all", NULL};
|
||||
unsigned int failcount = 0;
|
||||
bool passed[NTESTS];
|
||||
|
||||
printf("\nRunning all tests...\n\n");
|
||||
|
||||
|
@ -148,11 +150,11 @@ test_all(int argc, char *argv[])
|
|||
fprintf(stderr, " [%s] \t\t\tFAIL\n", tests[i].name);
|
||||
fflush(stderr);
|
||||
failcount++;
|
||||
|
||||
passed[i] = false;
|
||||
} else {
|
||||
tests[i].passed = 1;
|
||||
printf(" [%s] \t\t\tPASS\n", tests[i].name);
|
||||
fflush(stdout);
|
||||
passed[i] = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
@ -196,7 +198,7 @@ test_all(int argc, char *argv[])
|
|||
unsigned int k;
|
||||
|
||||
for (k = 0; k < i; k++) {
|
||||
if ((tests[k].passed == 0) && !(tests[k].options & OPT_NOALLTEST)) {
|
||||
if (!passed[k] && !(tests[k].options & OPT_NOALLTEST)) {
|
||||
printf(" [%s] to obtain details, please re-run with\n\t nsh> tests %s\n\n", tests[k].name, tests[k].name);
|
||||
}
|
||||
}
|
||||
|
@ -243,6 +245,7 @@ int test_jig(int argc, char *argv[])
|
|||
unsigned i;
|
||||
char *args[2] = {"jig", NULL};
|
||||
unsigned int failcount = 0;
|
||||
bool passed[NTESTS];
|
||||
|
||||
printf("\nRunning all tests...\n\n");
|
||||
for (i = 0; tests[i].name; i++) {
|
||||
|
@ -255,10 +258,11 @@ int test_jig(int argc, char *argv[])
|
|||
fprintf(stderr, " [%s] \t\t\tFAIL\n", tests[i].name);
|
||||
fflush(stderr);
|
||||
failcount++;
|
||||
passed[i] = false;
|
||||
} else {
|
||||
tests[i].passed = 1;
|
||||
printf(" [%s] \t\t\tPASS\n", tests[i].name);
|
||||
fflush(stdout);
|
||||
passed[i] = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
@ -297,7 +301,7 @@ int test_jig(int argc, char *argv[])
|
|||
unsigned int k;
|
||||
for (k = 0; k < i; k++)
|
||||
{
|
||||
if ((tests[k].passed == 0) && !(tests[k].options & OPT_NOJIGTEST))
|
||||
if (!passed[i] && !(tests[k].options & OPT_NOJIGTEST))
|
||||
{
|
||||
printf(" [%s] to obtain details, please re-run with\n\t nsh> tests %s\n\n", tests[k].name, tests[k].name);
|
||||
}
|
||||
|
|
|
@ -100,7 +100,6 @@ mixer_tick(void)
|
|||
/* too many frames without FMU input, time to go to failsafe */
|
||||
system_state.mixer_manual_override = true;
|
||||
system_state.mixer_fmu_available = false;
|
||||
lib_lowprintf("RX timeout\n");
|
||||
}
|
||||
|
||||
/*
|
||||
|
|
|
@ -51,6 +51,7 @@
|
|||
#include <poll.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <ctype.h>
|
||||
#include <systemlib/err.h>
|
||||
#include <unistd.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
|
@ -73,6 +74,8 @@
|
|||
|
||||
#include <systemlib/systemlib.h>
|
||||
|
||||
#include <mavlink/mavlink_log.h>
|
||||
|
||||
#include "sdlog_ringbuffer.h"
|
||||
|
||||
static bool thread_should_exit = false; /**< Deamon exit flag */
|
||||
|
@ -83,6 +86,7 @@ static const int MAX_NO_LOGFOLDER = 999; /**< Maximum number of log folders */
|
|||
static const char *mountpoint = "/fs/microsd";
|
||||
static const char *mfile_in = "/etc/logging/logconv.m";
|
||||
int sysvector_file = -1;
|
||||
int mavlink_fd = -1;
|
||||
struct sdlog_logbuffer lb;
|
||||
|
||||
/* mutex / condition to synchronize threads */
|
||||
|
@ -118,6 +122,8 @@ static int file_exist(const char *filename);
|
|||
|
||||
static int file_copy(const char *file_old, const char *file_new);
|
||||
|
||||
static void handle_command(struct vehicle_command_s *cmd);
|
||||
|
||||
/**
|
||||
* Print the current status.
|
||||
*/
|
||||
|
@ -134,7 +140,7 @@ usage(const char *reason)
|
|||
if (reason)
|
||||
fprintf(stderr, "%s\n", reason);
|
||||
|
||||
errx(1, "usage: sdlog {start|stop|status} [-p <additional params>]\n\n");
|
||||
errx(1, "usage: sdlog {start|stop|status} [-s <number of skipped lines>]\n\n");
|
||||
}
|
||||
|
||||
// XXX turn this into a C++ class
|
||||
|
@ -145,6 +151,9 @@ unsigned sysvector_bytes = 0;
|
|||
unsigned blackbox_file_bytes = 0;
|
||||
uint64_t starttime = 0;
|
||||
|
||||
/* logging on or off, default to true */
|
||||
bool logging_enabled = true;
|
||||
|
||||
/**
|
||||
* The sd log deamon app only briefly exists to start
|
||||
* the background job. The stack size assigned in the
|
||||
|
@ -172,7 +181,7 @@ int sdlog_main(int argc, char *argv[])
|
|||
SCHED_PRIORITY_DEFAULT - 30,
|
||||
4096,
|
||||
sdlog_thread_main,
|
||||
(argv) ? (const char **)&argv[2] : (const char **)NULL);
|
||||
(const char **)argv);
|
||||
exit(0);
|
||||
}
|
||||
|
||||
|
@ -318,8 +327,54 @@ sysvector_write_start(struct sdlog_logbuffer *logbuf)
|
|||
|
||||
int sdlog_thread_main(int argc, char *argv[])
|
||||
{
|
||||
mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
|
||||
|
||||
warnx("starting\n");
|
||||
if (mavlink_fd < 0) {
|
||||
warnx("ERROR: Failed to open MAVLink log stream, start mavlink app first.\n");
|
||||
}
|
||||
|
||||
/* log every n'th value (skip three per default) */
|
||||
int skip_value = 3;
|
||||
|
||||
/* work around some stupidity in task_create's argv handling */
|
||||
argc -= 2;
|
||||
argv += 2;
|
||||
int ch;
|
||||
|
||||
while ((ch = getopt(argc, argv, "s:r")) != EOF) {
|
||||
switch (ch) {
|
||||
case 's':
|
||||
{
|
||||
/* log only every n'th (gyro clocked) value */
|
||||
unsigned s = strtoul(optarg, NULL, 10);
|
||||
|
||||
if (s < 1 || s > 250) {
|
||||
errx(1, "Wrong skip value of %d, out of range (1..250)\n", s);
|
||||
} else {
|
||||
skip_value = s;
|
||||
}
|
||||
}
|
||||
break;
|
||||
|
||||
case 'r':
|
||||
/* log only on request, disable logging per default */
|
||||
logging_enabled = false;
|
||||
break;
|
||||
|
||||
case '?':
|
||||
if (optopt == 'c') {
|
||||
warnx("Option -%c requires an argument.\n", optopt);
|
||||
} else if (isprint(optopt)) {
|
||||
warnx("Unknown option `-%c'.\n", optopt);
|
||||
} else {
|
||||
warnx("Unknown option character `\\x%x'.\n", optopt);
|
||||
}
|
||||
|
||||
default:
|
||||
usage("unrecognized flag");
|
||||
errx(1, "exiting.");
|
||||
}
|
||||
}
|
||||
|
||||
if (file_exist(mountpoint) != OK) {
|
||||
errx(1, "logging mount point %s not present, exiting.", mountpoint);
|
||||
|
@ -330,31 +385,15 @@ int sdlog_thread_main(int argc, char *argv[])
|
|||
if (create_logfolder(folder_path))
|
||||
errx(1, "unable to create logging folder, exiting.");
|
||||
|
||||
/* create sensorfile */
|
||||
int sensorfile = -1;
|
||||
int actuator_outputs_file = -1;
|
||||
int actuator_controls_file = -1;
|
||||
FILE *gpsfile;
|
||||
FILE *blackbox_file;
|
||||
// FILE *vehiclefile;
|
||||
|
||||
char path_buf[64] = ""; // string to hold the path to the sensorfile
|
||||
/* string to hold the path to the sensorfile */
|
||||
char path_buf[64] = "";
|
||||
|
||||
/* only print logging path, important to find log file later */
|
||||
warnx("logging to directory %s\n", folder_path);
|
||||
|
||||
/* set up file path: e.g. /mnt/sdcard/session0001/sensor_combined.bin */
|
||||
sprintf(path_buf, "%s/%s.bin", folder_path, "sensor_combined");
|
||||
|
||||
if (0 == (sensorfile = open(path_buf, O_CREAT | O_WRONLY | O_DSYNC))) {
|
||||
errx(1, "opening %s failed.\n", path_buf);
|
||||
}
|
||||
|
||||
// /* set up file path: e.g. /mnt/sdcard/session0001/actuator_outputs0.bin */
|
||||
// sprintf(path_buf, "%s/%s.bin", folder_path, "actuator_outputs0");
|
||||
// if (0 == (actuator_outputs_file = open(path_buf, O_CREAT | O_WRONLY | O_DSYNC))) {
|
||||
// errx(1, "opening %s failed.\n", path_buf);
|
||||
// }
|
||||
|
||||
/* set up file path: e.g. /mnt/sdcard/session0001/actuator_controls0.bin */
|
||||
sprintf(path_buf, "%s/%s.bin", folder_path, "sysvector");
|
||||
|
||||
|
@ -362,13 +401,6 @@ int sdlog_thread_main(int argc, char *argv[])
|
|||
errx(1, "opening %s failed.\n", path_buf);
|
||||
}
|
||||
|
||||
/* set up file path: e.g. /mnt/sdcard/session0001/actuator_controls0.bin */
|
||||
sprintf(path_buf, "%s/%s.bin", folder_path, "actuator_controls0");
|
||||
|
||||
if (0 == (actuator_controls_file = open(path_buf, O_CREAT | O_WRONLY | O_DSYNC))) {
|
||||
errx(1, "opening %s failed.\n", path_buf);
|
||||
}
|
||||
|
||||
/* set up file path: e.g. /mnt/sdcard/session0001/gps.txt */
|
||||
sprintf(path_buf, "%s/%s.txt", folder_path, "gps");
|
||||
|
||||
|
@ -385,6 +417,7 @@ int sdlog_thread_main(int argc, char *argv[])
|
|||
errx(1, "opening %s failed.\n", path_buf);
|
||||
}
|
||||
|
||||
// XXX for fsync() calls
|
||||
int blackbox_file_no = fileno(blackbox_file);
|
||||
|
||||
/* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */
|
||||
|
@ -432,18 +465,24 @@ int sdlog_thread_main(int argc, char *argv[])
|
|||
} subs;
|
||||
|
||||
/* --- MANAGEMENT - LOGGING COMMAND --- */
|
||||
/* subscribe to ORB for sensors raw */
|
||||
/* subscribe to ORB for vehicle command */
|
||||
subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
|
||||
fds[fdsc_count].fd = subs.cmd_sub;
|
||||
fds[fdsc_count].events = POLLIN;
|
||||
fdsc_count++;
|
||||
|
||||
/* --- GPS POSITION --- */
|
||||
/* subscribe to ORB for global position */
|
||||
subs.gps_pos_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
|
||||
fds[fdsc_count].fd = subs.gps_pos_sub;
|
||||
fds[fdsc_count].events = POLLIN;
|
||||
fdsc_count++;
|
||||
|
||||
/* --- SENSORS RAW VALUE --- */
|
||||
/* subscribe to ORB for sensors raw */
|
||||
subs.sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
|
||||
fds[fdsc_count].fd = subs.sensor_sub;
|
||||
/* rate-limit raw data updates to 200Hz */
|
||||
orb_set_interval(subs.sensor_sub, 5);
|
||||
/* do not rate limit, instead use skip counter (aliasing on rate limit) */
|
||||
fds[fdsc_count].events = POLLIN;
|
||||
fdsc_count++;
|
||||
|
||||
|
@ -496,13 +535,6 @@ int sdlog_thread_main(int argc, char *argv[])
|
|||
fds[fdsc_count].events = POLLIN;
|
||||
fdsc_count++;
|
||||
|
||||
/* --- GPS POSITION --- */
|
||||
/* subscribe to ORB for global position */
|
||||
subs.gps_pos_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
|
||||
fds[fdsc_count].fd = subs.gps_pos_sub;
|
||||
fds[fdsc_count].events = POLLIN;
|
||||
fdsc_count++;
|
||||
|
||||
/* --- VICON POSITION --- */
|
||||
/* subscribe to ORB for vicon position */
|
||||
subs.vicon_pos_sub = orb_subscribe(ORB_ID(vehicle_vicon_position));
|
||||
|
@ -560,22 +592,13 @@ int sdlog_thread_main(int argc, char *argv[])
|
|||
|
||||
starttime = hrt_absolute_time();
|
||||
|
||||
// XXX clock the log for now with the gyro output rate / 2
|
||||
struct pollfd gyro_fd;
|
||||
gyro_fd.fd = subs.sensor_sub;
|
||||
gyro_fd.events = POLLIN;
|
||||
|
||||
/* log every 2nd value (skip one) */
|
||||
int skip_value = 0;
|
||||
/* track skipping */
|
||||
int skip_count = 0;
|
||||
|
||||
while (!thread_should_exit) {
|
||||
|
||||
// XXX only use gyro for now
|
||||
int poll_ret = poll(&gyro_fd, 1, 1000);
|
||||
|
||||
// int poll_ret = poll(fds, fdsc_count, timeout);
|
||||
/* only poll for commands, gps and sensor_combined */
|
||||
int poll_ret = poll(fds, 3, 1000);
|
||||
|
||||
/* handle the poll result */
|
||||
if (poll_ret == 0) {
|
||||
|
@ -584,159 +607,129 @@ int sdlog_thread_main(int argc, char *argv[])
|
|||
/* XXX this is seriously bad - should be an emergency */
|
||||
} else {
|
||||
|
||||
/* always copy sensors raw data into local buffer, since poll flags won't clear else */
|
||||
orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.raw);
|
||||
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.controls_0_sub, &buf.act_controls);
|
||||
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, subs.controls_effective_0_sub, &buf.act_controls_effective);
|
||||
/* copy actuator data into local buffer */
|
||||
orb_copy(ORB_ID(actuator_outputs_0), subs.act_0_sub, &buf.act_outputs);
|
||||
orb_copy(ORB_ID(vehicle_attitude_setpoint), subs.spa_sub, &buf.att_sp);
|
||||
orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos);
|
||||
orb_copy(ORB_ID(vehicle_local_position), subs.local_pos_sub, &buf.local_pos);
|
||||
orb_copy(ORB_ID(vehicle_global_position), subs.global_pos_sub, &buf.global_pos);
|
||||
orb_copy(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att);
|
||||
orb_copy(ORB_ID(vehicle_vicon_position), subs.vicon_pos_sub, &buf.vicon_pos);
|
||||
orb_copy(ORB_ID(optical_flow), subs.flow_sub, &buf.flow);
|
||||
int ifds = 0;
|
||||
|
||||
if (skip_count < skip_value) {
|
||||
skip_count++;
|
||||
/* do not log data */
|
||||
continue;
|
||||
} else {
|
||||
/* log data, reset */
|
||||
skip_count = 0;
|
||||
/* --- VEHICLE COMMAND VALUE --- */
|
||||
if (fds[ifds++].revents & POLLIN) {
|
||||
/* copy command into local buffer */
|
||||
orb_copy(ORB_ID(vehicle_command), subs.cmd_sub, &buf.cmd);
|
||||
|
||||
/* always log to blackbox, even when logging disabled */
|
||||
blackbox_file_bytes += fprintf(blackbox_file, "[%10.4f\tVCMD] CMD #%d [%f\t%f\t%f\t%f\t%f\t%f\t%f]\n", hrt_absolute_time()/1000000.0d,
|
||||
buf.cmd.command, (double)buf.cmd.param1, (double)buf.cmd.param2, (double)buf.cmd.param3, (double)buf.cmd.param4,
|
||||
(double)buf.cmd.param5, (double)buf.cmd.param6, (double)buf.cmd.param7);
|
||||
|
||||
handle_command(&buf.cmd);
|
||||
}
|
||||
|
||||
// int ifds = 0;
|
||||
/* --- VEHICLE GPS VALUE --- */
|
||||
if (fds[ifds++].revents & POLLIN) {
|
||||
/* copy gps position into local buffer */
|
||||
orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos);
|
||||
|
||||
// if (poll_count % 5000 == 0) {
|
||||
// fsync(sensorfile);
|
||||
// fsync(actuator_outputs_file);
|
||||
// fsync(actuator_controls_file);
|
||||
// fsync(blackbox_file_no);
|
||||
// }
|
||||
/* if logging disabled, continue */
|
||||
if (logging_enabled) {
|
||||
|
||||
/* write KML line */
|
||||
}
|
||||
}
|
||||
|
||||
/* --- SENSORS RAW VALUE --- */
|
||||
if (fds[ifds++].revents & POLLIN) {
|
||||
|
||||
// /* --- VEHICLE COMMAND VALUE --- */
|
||||
// if (fds[ifds++].revents & POLLIN) {
|
||||
// /* copy command into local buffer */
|
||||
// orb_copy(ORB_ID(vehicle_command), subs.cmd_sub, &buf.cmd);
|
||||
// blackbox_file_bytes += fprintf(blackbox_file, "[%10.4f\tVCMD] CMD #%d [%f\t%f\t%f\t%f\t%f\t%f\t%f]\n", hrt_absolute_time()/1000000.0d,
|
||||
// buf.cmd.command, (double)buf.cmd.param1, (double)buf.cmd.param2, (double)buf.cmd.param3, (double)buf.cmd.param4,
|
||||
// (double)buf.cmd.param5, (double)buf.cmd.param6, (double)buf.cmd.param7);
|
||||
// }
|
||||
// /* copy sensors raw data into local buffer */
|
||||
// orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.raw);
|
||||
// /* write out */
|
||||
// sensor_combined_bytes += write(sensorfile, (const char*)&(buf.raw), sizeof(buf.raw));
|
||||
|
||||
// /* --- SENSORS RAW VALUE --- */
|
||||
// if (fds[ifds++].revents & POLLIN) {
|
||||
/* always copy sensors raw data into local buffer, since poll flags won't clear else */
|
||||
orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.raw);
|
||||
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.controls_0_sub, &buf.act_controls);
|
||||
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, subs.controls_effective_0_sub, &buf.act_controls_effective);
|
||||
orb_copy(ORB_ID(actuator_outputs_0), subs.act_0_sub, &buf.act_outputs);
|
||||
orb_copy(ORB_ID(vehicle_attitude_setpoint), subs.spa_sub, &buf.att_sp);
|
||||
orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos);
|
||||
orb_copy(ORB_ID(vehicle_local_position), subs.local_pos_sub, &buf.local_pos);
|
||||
orb_copy(ORB_ID(vehicle_global_position), subs.global_pos_sub, &buf.global_pos);
|
||||
orb_copy(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att);
|
||||
orb_copy(ORB_ID(vehicle_vicon_position), subs.vicon_pos_sub, &buf.vicon_pos);
|
||||
orb_copy(ORB_ID(optical_flow), subs.flow_sub, &buf.flow);
|
||||
orb_copy(ORB_ID(differential_pressure), subs.diff_pressure_sub, &buf.diff_pressure);
|
||||
orb_copy(ORB_ID(battery_status), subs.batt_sub, &buf.batt);
|
||||
|
||||
// /* copy sensors raw data into local buffer */
|
||||
// orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.raw);
|
||||
// /* write out */
|
||||
// sensor_combined_bytes += write(sensorfile, (const char*)&(buf.raw), sizeof(buf.raw));
|
||||
// }
|
||||
/* if skipping is on or logging is disabled, ignore */
|
||||
if (skip_count < skip_value || !logging_enabled) {
|
||||
skip_count++;
|
||||
/* do not log data */
|
||||
continue;
|
||||
} else {
|
||||
/* log data, reset */
|
||||
skip_count = 0;
|
||||
}
|
||||
|
||||
// /* --- ATTITUDE VALUE --- */
|
||||
// if (fds[ifds++].revents & POLLIN) {
|
||||
struct sdlog_sysvector sysvect = {
|
||||
.timestamp = buf.raw.timestamp,
|
||||
.gyro = {buf.raw.gyro_rad_s[0], buf.raw.gyro_rad_s[1], buf.raw.gyro_rad_s[2]},
|
||||
.accel = {buf.raw.accelerometer_m_s2[0], buf.raw.accelerometer_m_s2[1], buf.raw.accelerometer_m_s2[2]},
|
||||
.mag = {buf.raw.magnetometer_ga[0], buf.raw.magnetometer_ga[1], buf.raw.magnetometer_ga[2]},
|
||||
.baro = buf.raw.baro_pres_mbar,
|
||||
.baro_alt = buf.raw.baro_alt_meter,
|
||||
.baro_temp = buf.raw.baro_temp_celcius,
|
||||
.control = {buf.act_controls.control[0], buf.act_controls.control[1], buf.act_controls.control[2], buf.act_controls.control[3]},
|
||||
.actuators = {
|
||||
buf.act_outputs.output[0], buf.act_outputs.output[1], buf.act_outputs.output[2], buf.act_outputs.output[3],
|
||||
buf.act_outputs.output[4], buf.act_outputs.output[5], buf.act_outputs.output[6], buf.act_outputs.output[7]
|
||||
},
|
||||
.vbat = buf.batt.voltage_v,
|
||||
.bat_current = buf.batt.current_a,
|
||||
.bat_discharged = buf.batt.discharged_mah,
|
||||
.adc = {buf.raw.adc_voltage_v[0], buf.raw.adc_voltage_v[1], buf.raw.adc_voltage_v[2]},
|
||||
.local_position = {buf.local_pos.x, buf.local_pos.y, buf.local_pos.z},
|
||||
.gps_raw_position = {buf.gps_pos.lat, buf.gps_pos.lon, buf.gps_pos.alt},
|
||||
.attitude = {buf.att.pitch, buf.att.roll, buf.att.yaw},
|
||||
.rotMatrix = {buf.att.R[0][0], buf.att.R[0][1], buf.att.R[0][2], buf.att.R[1][0], buf.att.R[1][1], buf.att.R[1][2], buf.att.R[2][0], buf.att.R[2][1], buf.att.R[2][2]},
|
||||
.vicon = {buf.vicon_pos.x, buf.vicon_pos.y, buf.vicon_pos.z, buf.vicon_pos.roll, buf.vicon_pos.pitch, buf.vicon_pos.yaw},
|
||||
.control_effective = {buf.act_controls_effective.control_effective[0], buf.act_controls_effective.control_effective[1], buf.act_controls_effective.control_effective[2], buf.act_controls_effective.control_effective[3]},
|
||||
.flow = {buf.flow.flow_raw_x, buf.flow.flow_raw_y, buf.flow.flow_comp_x_m, buf.flow.flow_comp_y_m, buf.flow.ground_distance_m, buf.flow.quality},
|
||||
.diff_pressure = buf.diff_pressure.differential_pressure_mbar,
|
||||
.ind_airspeed = buf.diff_pressure.indicated_airspeed_m_s,
|
||||
.true_airspeed = buf.diff_pressure.true_airspeed_m_s
|
||||
};
|
||||
|
||||
// /* copy attitude data into local buffer */
|
||||
// orb_copy(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att);
|
||||
/* put into buffer for later IO */
|
||||
pthread_mutex_lock(&sysvector_mutex);
|
||||
sdlog_logbuffer_write(&lb, &sysvect);
|
||||
/* signal the other thread new data, but not yet unlock */
|
||||
if ((unsigned)lb.count > (lb.size / 2)) {
|
||||
/* only request write if several packets can be written at once */
|
||||
pthread_cond_signal(&sysvector_cond);
|
||||
}
|
||||
/* unlock, now the writer thread may run */
|
||||
pthread_mutex_unlock(&sysvector_mutex);
|
||||
}
|
||||
|
||||
|
||||
// }
|
||||
|
||||
// /* --- VEHICLE ATTITUDE SETPOINT --- */
|
||||
// if (fds[ifds++].revents & POLLIN) {
|
||||
// /* copy local position data into local buffer */
|
||||
// orb_copy(ORB_ID(vehicle_attitude_setpoint), subs.spa_sub, &buf.att_sp);
|
||||
|
||||
// }
|
||||
|
||||
// /* --- ACTUATOR OUTPUTS 0 --- */
|
||||
// if (fds[ifds++].revents & POLLIN) {
|
||||
// /* copy actuator data into local buffer */
|
||||
// orb_copy(ORB_ID(actuator_outputs_0), subs.act_0_sub, &buf.act_outputs);
|
||||
// /* write out */
|
||||
// // actuator_outputs_bytes += write(actuator_outputs_file, (const char*)&buf.act_outputs, sizeof(buf.act_outputs));
|
||||
// }
|
||||
|
||||
// /* --- ACTUATOR CONTROL --- */
|
||||
// if (fds[ifds++].revents & POLLIN) {
|
||||
// orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.controls0_sub, &buf.act_controls);
|
||||
// /* write out */
|
||||
// actuator_controls_bytes += write(actuator_controls_file, (const char*)&buf.act_controls, sizeof(buf.act_controls));
|
||||
// }
|
||||
|
||||
|
||||
/* copy sensors raw data into local buffer */
|
||||
orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.raw);
|
||||
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs.controls_0_sub, &buf.act_controls);
|
||||
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, subs.controls_effective_0_sub, &buf.act_controls_effective);
|
||||
/* copy actuator data into local buffer */
|
||||
orb_copy(ORB_ID(actuator_outputs_0), subs.act_0_sub, &buf.act_outputs);
|
||||
orb_copy(ORB_ID(vehicle_attitude_setpoint), subs.spa_sub, &buf.att_sp);
|
||||
orb_copy(ORB_ID(vehicle_gps_position), subs.gps_pos_sub, &buf.gps_pos);
|
||||
orb_copy(ORB_ID(vehicle_local_position), subs.local_pos_sub, &buf.local_pos);
|
||||
orb_copy(ORB_ID(vehicle_global_position), subs.global_pos_sub, &buf.global_pos);
|
||||
orb_copy(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att);
|
||||
orb_copy(ORB_ID(vehicle_vicon_position), subs.vicon_pos_sub, &buf.vicon_pos);
|
||||
orb_copy(ORB_ID(optical_flow), subs.flow_sub, &buf.flow);
|
||||
orb_copy(ORB_ID(differential_pressure), subs.diff_pressure_sub, &buf.diff_pressure);
|
||||
orb_copy(ORB_ID(battery_status), subs.batt_sub, &buf.batt);
|
||||
|
||||
struct sdlog_sysvector sysvect = {
|
||||
.timestamp = buf.raw.timestamp,
|
||||
.gyro = {buf.raw.gyro_rad_s[0], buf.raw.gyro_rad_s[1], buf.raw.gyro_rad_s[2]},
|
||||
.accel = {buf.raw.accelerometer_m_s2[0], buf.raw.accelerometer_m_s2[1], buf.raw.accelerometer_m_s2[2]},
|
||||
.mag = {buf.raw.magnetometer_ga[0], buf.raw.magnetometer_ga[1], buf.raw.magnetometer_ga[2]},
|
||||
.baro = buf.raw.baro_pres_mbar,
|
||||
.baro_alt = buf.raw.baro_alt_meter,
|
||||
.baro_temp = buf.raw.baro_temp_celcius,
|
||||
.control = {buf.act_controls.control[0], buf.act_controls.control[1], buf.act_controls.control[2], buf.act_controls.control[3]},
|
||||
.actuators = {
|
||||
buf.act_outputs.output[0], buf.act_outputs.output[1], buf.act_outputs.output[2], buf.act_outputs.output[3],
|
||||
buf.act_outputs.output[4], buf.act_outputs.output[5], buf.act_outputs.output[6], buf.act_outputs.output[7]
|
||||
},
|
||||
.vbat = buf.batt.voltage_v,
|
||||
.bat_current = buf.batt.current_a,
|
||||
.bat_discharged = buf.batt.discharged_mah,
|
||||
.adc = {buf.raw.adc_voltage_v[0], buf.raw.adc_voltage_v[1], buf.raw.adc_voltage_v[2]},
|
||||
.local_position = {buf.local_pos.x, buf.local_pos.y, buf.local_pos.z},
|
||||
.gps_raw_position = {buf.gps_pos.lat, buf.gps_pos.lon, buf.gps_pos.alt},
|
||||
.attitude = {buf.att.pitch, buf.att.roll, buf.att.yaw},
|
||||
.rotMatrix = {buf.att.R[0][0], buf.att.R[0][1], buf.att.R[0][2], buf.att.R[1][0], buf.att.R[1][1], buf.att.R[1][2], buf.att.R[2][0], buf.att.R[2][1], buf.att.R[2][2]},
|
||||
.vicon = {buf.vicon_pos.x, buf.vicon_pos.y, buf.vicon_pos.z, buf.vicon_pos.roll, buf.vicon_pos.pitch, buf.vicon_pos.yaw},
|
||||
.control_effective = {buf.act_controls_effective.control_effective[0], buf.act_controls_effective.control_effective[1], buf.act_controls_effective.control_effective[2], buf.act_controls_effective.control_effective[3]},
|
||||
.flow = {buf.flow.flow_raw_x, buf.flow.flow_raw_y, buf.flow.flow_comp_x_m, buf.flow.flow_comp_y_m, buf.flow.ground_distance_m, buf.flow.quality},
|
||||
.diff_pressure = buf.diff_pressure.differential_pressure_mbar,
|
||||
.ind_airspeed = buf.diff_pressure.indicated_airspeed_m_s,
|
||||
.true_airspeed = buf.diff_pressure.true_airspeed_m_s
|
||||
};
|
||||
|
||||
/* put into buffer for later IO */
|
||||
pthread_mutex_lock(&sysvector_mutex);
|
||||
sdlog_logbuffer_write(&lb, &sysvect);
|
||||
/* signal the other thread new data, but not yet unlock */
|
||||
pthread_cond_signal(&sysvector_cond);
|
||||
/* unlock, now the writer thread may run */
|
||||
pthread_mutex_unlock(&sysvector_mutex);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
print_sdlog_status();
|
||||
|
||||
/* wake up write thread one last time */
|
||||
pthread_mutex_lock(&sysvector_mutex);
|
||||
pthread_cond_signal(&sysvector_cond);
|
||||
/* unlock, now the writer thread may return */
|
||||
pthread_mutex_unlock(&sysvector_mutex);
|
||||
|
||||
/* wait for write thread to return */
|
||||
(void)pthread_join(sysvector_pthread, NULL);
|
||||
|
||||
pthread_mutex_destroy(&sysvector_mutex);
|
||||
pthread_cond_destroy(&sysvector_cond);
|
||||
|
||||
warnx("exiting.\n");
|
||||
warnx("exiting.\n\n");
|
||||
|
||||
close(sensorfile);
|
||||
close(actuator_outputs_file);
|
||||
close(actuator_controls_file);
|
||||
/* finish KML file */
|
||||
// XXX
|
||||
fclose(gpsfile);
|
||||
fclose(blackbox_file);
|
||||
|
||||
|
@ -803,4 +796,34 @@ int file_copy(const char *file_old, const char *file_new)
|
|||
return ret;
|
||||
}
|
||||
|
||||
void handle_command(struct vehicle_command_s *cmd)
|
||||
{
|
||||
/* result of the command */
|
||||
uint8_t result = VEHICLE_CMD_RESULT_UNSUPPORTED;
|
||||
|
||||
/* request to set different system mode */
|
||||
switch (cmd->command) {
|
||||
|
||||
case VEHICLE_CMD_PREFLIGHT_STORAGE:
|
||||
|
||||
if (((int)(cmd->param3)) == 1) {
|
||||
|
||||
/* enable logging */
|
||||
mavlink_log_info(mavlink_fd, "[log] file:");
|
||||
mavlink_log_info(mavlink_fd, "logdir");
|
||||
logging_enabled = true;
|
||||
}
|
||||
if (((int)(cmd->param3)) == 0) {
|
||||
|
||||
/* disable logging */
|
||||
mavlink_log_info(mavlink_fd, "[log] stopped.");
|
||||
logging_enabled = false;
|
||||
}
|
||||
break;
|
||||
|
||||
default:
|
||||
/* silently ignore */
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
|
|
@ -43,7 +43,6 @@
|
|||
|
||||
#include <fcntl.h>
|
||||
#include <poll.h>
|
||||
#include <nuttx/analog/adc.h>
|
||||
#include <unistd.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
|
@ -52,13 +51,15 @@
|
|||
#include <errno.h>
|
||||
#include <math.h>
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <nuttx/analog/adc.h>
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/drv_accel.h>
|
||||
#include <drivers/drv_gyro.h>
|
||||
#include <drivers/drv_mag.h>
|
||||
#include <drivers/drv_baro.h>
|
||||
#include <drivers/drv_rc_input.h>
|
||||
#include <drivers/drv_adc.h>
|
||||
|
||||
#include <systemlib/systemlib.h>
|
||||
#include <systemlib/param/param.h>
|
||||
|
@ -87,7 +88,7 @@
|
|||
#define BARO_HEALTH_COUNTER_LIMIT_OK 5
|
||||
#define ADC_HEALTH_COUNTER_LIMIT_OK 5
|
||||
|
||||
#define ADC_BATTERY_VOLATGE_CHANNEL 10
|
||||
#define ADC_BATTERY_VOLTAGE_CHANNEL 10
|
||||
|
||||
#define BAT_VOL_INITIAL 12.f
|
||||
#define BAT_VOL_LOWPASS_1 0.99f
|
||||
|
@ -108,8 +109,8 @@ extern "C" __EXPORT int sensors_main(int argc, char *argv[]);
|
|||
class Sensors
|
||||
{
|
||||
public:
|
||||
/**
|
||||
* Constructor
|
||||
/**
|
||||
* Constructor
|
||||
*/
|
||||
Sensors();
|
||||
|
||||
|
@ -125,7 +126,7 @@ public:
|
|||
*/
|
||||
int start();
|
||||
|
||||
private:
|
||||
private:
|
||||
static const unsigned _rc_max_chan_count = RC_CHANNELS_MAX; /**< maximum number of r/c channels we handle */
|
||||
|
||||
#if CONFIG_HRT_PPM
|
||||
|
@ -233,7 +234,7 @@ private:
|
|||
param_t rc_map_pitch;
|
||||
param_t rc_map_yaw;
|
||||
param_t rc_map_throttle;
|
||||
|
||||
|
||||
param_t rc_map_manual_override_sw;
|
||||
param_t rc_map_auto_mode_sw;
|
||||
|
||||
|
@ -373,7 +374,7 @@ Sensors::Sensors() :
|
|||
_hil_enabled(false),
|
||||
_publishing(true),
|
||||
|
||||
/* subscriptions */
|
||||
/* subscriptions */
|
||||
_gyro_sub(-1),
|
||||
_accel_sub(-1),
|
||||
_mag_sub(-1),
|
||||
|
@ -383,13 +384,13 @@ Sensors::Sensors() :
|
|||
_params_sub(-1),
|
||||
_manual_control_sub(-1),
|
||||
|
||||
/* publications */
|
||||
/* publications */
|
||||
_sensor_pub(-1),
|
||||
_manual_control_pub(-1),
|
||||
_rc_pub(-1),
|
||||
_battery_pub(-1),
|
||||
|
||||
/* performance counters */
|
||||
/* performance counters */
|
||||
_loop_perf(perf_alloc(PC_ELAPSED, "sensor task update"))
|
||||
{
|
||||
|
||||
|
@ -487,6 +488,7 @@ Sensors::~Sensors()
|
|||
|
||||
/* wait for a second for the task to quit at our request */
|
||||
unsigned i = 0;
|
||||
|
||||
do {
|
||||
/* wait 20ms */
|
||||
usleep(20000);
|
||||
|
@ -513,15 +515,19 @@ Sensors::parameters_update()
|
|||
if (param_get(_parameter_handles.min[i], &(_parameters.min[i])) != OK) {
|
||||
warnx("Failed getting min for chan %d", i);
|
||||
}
|
||||
|
||||
if (param_get(_parameter_handles.trim[i], &(_parameters.trim[i])) != OK) {
|
||||
warnx("Failed getting trim for chan %d", i);
|
||||
}
|
||||
|
||||
if (param_get(_parameter_handles.max[i], &(_parameters.max[i])) != OK) {
|
||||
warnx("Failed getting max for chan %d", i);
|
||||
}
|
||||
|
||||
if (param_get(_parameter_handles.rev[i], &(_parameters.rev[i])) != OK) {
|
||||
warnx("Failed getting rev for chan %d", i);
|
||||
}
|
||||
|
||||
if (param_get(_parameter_handles.dz[i], &(_parameters.dz[i])) != OK) {
|
||||
warnx("Failed getting dead zone for chan %d", i);
|
||||
}
|
||||
|
@ -530,8 +536,8 @@ Sensors::parameters_update()
|
|||
|
||||
/* handle blowup in the scaling factor calculation */
|
||||
if (!isfinite(_parameters.scaling_factor[i]) ||
|
||||
_parameters.scaling_factor[i] * _parameters.rev[i] < 0.000001f ||
|
||||
_parameters.scaling_factor[i] * _parameters.rev[i] > 0.2f) {
|
||||
_parameters.scaling_factor[i] * _parameters.rev[i] < 0.000001f ||
|
||||
_parameters.scaling_factor[i] * _parameters.rev[i] > 0.2f) {
|
||||
|
||||
/* scaling factors do not make sense, lock them down */
|
||||
_parameters.scaling_factor[i] = 0;
|
||||
|
@ -553,18 +559,23 @@ Sensors::parameters_update()
|
|||
if (param_get(_parameter_handles.rc_map_roll, &(_parameters.rc_map_roll)) != OK) {
|
||||
warnx("Failed getting roll chan index");
|
||||
}
|
||||
|
||||
if (param_get(_parameter_handles.rc_map_pitch, &(_parameters.rc_map_pitch)) != OK) {
|
||||
warnx("Failed getting pitch chan index");
|
||||
}
|
||||
|
||||
if (param_get(_parameter_handles.rc_map_yaw, &(_parameters.rc_map_yaw)) != OK) {
|
||||
warnx("Failed getting yaw chan index");
|
||||
}
|
||||
|
||||
if (param_get(_parameter_handles.rc_map_throttle, &(_parameters.rc_map_throttle)) != OK) {
|
||||
warnx("Failed getting throttle chan index");
|
||||
}
|
||||
|
||||
if (param_get(_parameter_handles.rc_map_manual_override_sw, &(_parameters.rc_map_manual_override_sw)) != OK) {
|
||||
warnx("Failed getting override sw chan index");
|
||||
}
|
||||
|
||||
if (param_get(_parameter_handles.rc_map_auto_mode_sw, &(_parameters.rc_map_auto_mode_sw)) != OK) {
|
||||
warnx("Failed getting auto mode sw chan index");
|
||||
}
|
||||
|
@ -576,12 +587,15 @@ Sensors::parameters_update()
|
|||
if (param_get(_parameter_handles.rc_map_manual_mode_sw, &(_parameters.rc_map_manual_mode_sw)) != OK) {
|
||||
warnx("Failed getting manual mode sw chan index");
|
||||
}
|
||||
|
||||
if (param_get(_parameter_handles.rc_map_rtl_sw, &(_parameters.rc_map_rtl_sw)) != OK) {
|
||||
warnx("Failed getting rtl sw chan index");
|
||||
}
|
||||
|
||||
if (param_get(_parameter_handles.rc_map_sas_mode_sw, &(_parameters.rc_map_sas_mode_sw)) != OK) {
|
||||
warnx("Failed getting sas mode sw chan index");
|
||||
}
|
||||
|
||||
if (param_get(_parameter_handles.rc_map_offboard_ctrl_mode_sw, &(_parameters.rc_map_offboard_ctrl_mode_sw)) != OK) {
|
||||
warnx("Failed getting offboard control mode sw chan index");
|
||||
}
|
||||
|
@ -589,15 +603,19 @@ Sensors::parameters_update()
|
|||
if (param_get(_parameter_handles.rc_map_aux1, &(_parameters.rc_map_aux1)) != OK) {
|
||||
warnx("Failed getting mode aux 1 index");
|
||||
}
|
||||
|
||||
if (param_get(_parameter_handles.rc_map_aux2, &(_parameters.rc_map_aux2)) != OK) {
|
||||
warnx("Failed getting mode aux 2 index");
|
||||
}
|
||||
|
||||
if (param_get(_parameter_handles.rc_map_aux3, &(_parameters.rc_map_aux3)) != OK) {
|
||||
warnx("Failed getting mode aux 3 index");
|
||||
}
|
||||
|
||||
if (param_get(_parameter_handles.rc_map_aux4, &(_parameters.rc_map_aux4)) != OK) {
|
||||
warnx("Failed getting mode aux 4 index");
|
||||
}
|
||||
|
||||
if (param_get(_parameter_handles.rc_map_aux5, &(_parameters.rc_map_aux5)) != OK) {
|
||||
warnx("Failed getting mode aux 5 index");
|
||||
}
|
||||
|
@ -605,12 +623,15 @@ Sensors::parameters_update()
|
|||
if (param_get(_parameter_handles.rc_scale_roll, &(_parameters.rc_scale_roll)) != OK) {
|
||||
warnx("Failed getting rc scaling for roll");
|
||||
}
|
||||
|
||||
if (param_get(_parameter_handles.rc_scale_pitch, &(_parameters.rc_scale_pitch)) != OK) {
|
||||
warnx("Failed getting rc scaling for pitch");
|
||||
}
|
||||
|
||||
if (param_get(_parameter_handles.rc_scale_yaw, &(_parameters.rc_scale_yaw)) != OK) {
|
||||
warnx("Failed getting rc scaling for yaw");
|
||||
}
|
||||
|
||||
if (param_get(_parameter_handles.rc_scale_flaps, &(_parameters.rc_scale_flaps)) != OK) {
|
||||
warnx("Failed getting rc scaling for flaps");
|
||||
}
|
||||
|
@ -673,9 +694,11 @@ Sensors::accel_init()
|
|||
int fd;
|
||||
|
||||
fd = open(ACCEL_DEVICE_PATH, 0);
|
||||
|
||||
if (fd < 0) {
|
||||
warn("%s", ACCEL_DEVICE_PATH);
|
||||
errx(1, "FATAL: no accelerometer found");
|
||||
|
||||
} else {
|
||||
/* set the accel internal sampling rate up to at leat 500Hz */
|
||||
ioctl(fd, ACCELIOCSSAMPLERATE, 500);
|
||||
|
@ -694,9 +717,11 @@ Sensors::gyro_init()
|
|||
int fd;
|
||||
|
||||
fd = open(GYRO_DEVICE_PATH, 0);
|
||||
|
||||
if (fd < 0) {
|
||||
warn("%s", GYRO_DEVICE_PATH);
|
||||
errx(1, "FATAL: no gyro found");
|
||||
|
||||
} else {
|
||||
/* set the gyro internal sampling rate up to at leat 500Hz */
|
||||
ioctl(fd, GYROIOCSSAMPLERATE, 500);
|
||||
|
@ -715,6 +740,7 @@ Sensors::mag_init()
|
|||
int fd;
|
||||
|
||||
fd = open(MAG_DEVICE_PATH, 0);
|
||||
|
||||
if (fd < 0) {
|
||||
warn("%s", MAG_DEVICE_PATH);
|
||||
errx(1, "FATAL: no magnetometer found");
|
||||
|
@ -735,6 +761,7 @@ Sensors::baro_init()
|
|||
int fd;
|
||||
|
||||
fd = open(BARO_DEVICE_PATH, 0);
|
||||
|
||||
if (fd < 0) {
|
||||
warn("%s", BARO_DEVICE_PATH);
|
||||
warnx("No barometer found, ignoring");
|
||||
|
@ -750,9 +777,10 @@ void
|
|||
Sensors::adc_init()
|
||||
{
|
||||
|
||||
_fd_adc = open("/dev/adc0", O_RDONLY | O_NONBLOCK);
|
||||
_fd_adc = open(ADC_DEVICE_PATH, O_RDONLY | O_NONBLOCK);
|
||||
|
||||
if (_fd_adc < 0) {
|
||||
warnx("/dev/adc0");
|
||||
warn(ADC_DEVICE_PATH);
|
||||
warnx("FATAL: no ADC found");
|
||||
}
|
||||
}
|
||||
|
@ -821,7 +849,7 @@ Sensors::mag_poll(struct sensor_combined_s &raw)
|
|||
raw.magnetometer_raw[0] = mag_report.x_raw;
|
||||
raw.magnetometer_raw[1] = mag_report.y_raw;
|
||||
raw.magnetometer_raw[2] = mag_report.z_raw;
|
||||
|
||||
|
||||
raw.magnetometer_counter++;
|
||||
}
|
||||
}
|
||||
|
@ -853,6 +881,7 @@ Sensors::vehicle_status_poll()
|
|||
|
||||
/* Check HIL state if vehicle status has changed */
|
||||
orb_check(_vstatus_sub, &vstatus_updated);
|
||||
|
||||
if (vstatus_updated) {
|
||||
|
||||
orb_copy(ORB_ID(vehicle_status), _vstatus_sub, &vstatus);
|
||||
|
@ -880,8 +909,7 @@ Sensors::parameter_update_poll(bool forced)
|
|||
/* Check if any parameter has changed */
|
||||
orb_check(_params_sub, ¶m_updated);
|
||||
|
||||
if (param_updated || forced)
|
||||
{
|
||||
if (param_updated || forced) {
|
||||
/* read from param to clear updated flag */
|
||||
struct parameter_update_s update;
|
||||
orb_copy(ORB_ID(parameter_update), _params_sub, &update);
|
||||
|
@ -891,7 +919,7 @@ Sensors::parameter_update_poll(bool forced)
|
|||
|
||||
/* update sensor offsets */
|
||||
int fd = open(GYRO_DEVICE_PATH, 0);
|
||||
struct gyro_scale gscale = {
|
||||
struct gyro_scale gscale = {
|
||||
_parameters.gyro_offset[0],
|
||||
1.0f,
|
||||
_parameters.gyro_offset[1],
|
||||
|
@ -899,8 +927,10 @@ Sensors::parameter_update_poll(bool forced)
|
|||
_parameters.gyro_offset[2],
|
||||
1.0f,
|
||||
};
|
||||
|
||||
if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale))
|
||||
warn("WARNING: failed to set scale / offsets for gyro");
|
||||
|
||||
close(fd);
|
||||
|
||||
fd = open(ACCEL_DEVICE_PATH, 0);
|
||||
|
@ -912,8 +942,10 @@ Sensors::parameter_update_poll(bool forced)
|
|||
_parameters.accel_offset[2],
|
||||
_parameters.accel_scale[2],
|
||||
};
|
||||
|
||||
if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale))
|
||||
warn("WARNING: failed to set scale / offsets for accel");
|
||||
|
||||
close(fd);
|
||||
|
||||
fd = open(MAG_DEVICE_PATH, 0);
|
||||
|
@ -925,62 +957,67 @@ Sensors::parameter_update_poll(bool forced)
|
|||
_parameters.mag_offset[2],
|
||||
_parameters.mag_scale[2],
|
||||
};
|
||||
|
||||
if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale))
|
||||
warn("WARNING: failed to set scale / offsets for mag");
|
||||
|
||||
close(fd);
|
||||
|
||||
#if 0
|
||||
printf("CH0: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[0], (int)_parameters.min[0], (int)(_rc.chan[0].scaling_factor*10000), (int)(_rc.chan[0].mid), (int)_rc.function[0]);
|
||||
printf("CH1: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[1], (int)_parameters.min[1], (int)(_rc.chan[1].scaling_factor*10000), (int)(_rc.chan[1].mid), (int)_rc.function[1]);
|
||||
printf("MAN: %d %d\n", (int)(_rc.chan[0].scaled*100), (int)(_rc.chan[1].scaled*100));
|
||||
printf("CH0: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[0], (int)_parameters.min[0], (int)(_rc.chan[0].scaling_factor * 10000), (int)(_rc.chan[0].mid), (int)_rc.function[0]);
|
||||
printf("CH1: RAW MAX: %d MIN %d S: %d MID: %d FUNC: %d\n", (int)_parameters.max[1], (int)_parameters.min[1], (int)(_rc.chan[1].scaling_factor * 10000), (int)(_rc.chan[1].mid), (int)_rc.function[1]);
|
||||
printf("MAN: %d %d\n", (int)(_rc.chan[0].scaled * 100), (int)(_rc.chan[1].scaled * 100));
|
||||
fflush(stdout);
|
||||
usleep(5000);
|
||||
#endif
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
Sensors::adc_poll(struct sensor_combined_s &raw)
|
||||
{
|
||||
#pragma pack(push,1)
|
||||
struct adc_msg4_s {
|
||||
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) */
|
||||
} buf_adc;
|
||||
#pragma pack(pop)
|
||||
|
||||
/* rate limit to 100 Hz */
|
||||
if (hrt_absolute_time() - _last_adc >= 10000) {
|
||||
read(_fd_adc, &buf_adc, sizeof(buf_adc));
|
||||
/* make space for a maximum of eight channels */
|
||||
struct adc_msg_s buf_adc[8];
|
||||
/* read all channels available */
|
||||
int ret = read(_fd_adc, &buf_adc, sizeof(buf_adc));
|
||||
|
||||
if (ADC_BATTERY_VOLATGE_CHANNEL == buf_adc.am_channel1) {
|
||||
/* Voltage in volts */
|
||||
float voltage = (buf_adc.am_data1 * _parameters.battery_voltage_scaling);
|
||||
/* look for battery channel */
|
||||
|
||||
if (voltage > VOLTAGE_BATTERY_IGNORE_THRESHOLD_VOLTS) {
|
||||
for (unsigned i = 0; i < sizeof(buf_adc) / sizeof(buf_adc[0]); i++) {
|
||||
|
||||
_battery_status.timestamp = hrt_absolute_time();
|
||||
_battery_status.voltage_v = (BAT_VOL_LOWPASS_1 * (_battery_status.voltage_v + BAT_VOL_LOWPASS_2 * voltage));;
|
||||
/* current and discharge are unknown */
|
||||
_battery_status.current_a = -1.0f;
|
||||
_battery_status.discharged_mah = -1.0f;
|
||||
if (ret >= sizeof(buf_adc[0]) && ADC_BATTERY_VOLTAGE_CHANNEL == buf_adc[i].am_channel) {
|
||||
/* Voltage in volts */
|
||||
float voltage = (buf_adc[i].am_data * _parameters.battery_voltage_scaling);
|
||||
|
||||
/* announce the battery voltage if needed, just publish else */
|
||||
if (_battery_pub > 0) {
|
||||
orb_publish(ORB_ID(battery_status), _battery_pub, &_battery_status);
|
||||
} else {
|
||||
_battery_pub = orb_advertise(ORB_ID(battery_status), &_battery_status);
|
||||
if (voltage > VOLTAGE_BATTERY_IGNORE_THRESHOLD_VOLTS) {
|
||||
|
||||
/* one-time initialization of low-pass value to avoid long init delays */
|
||||
if (_battery_status.voltage_v < 3.0f) {
|
||||
_battery_status.voltage_v = voltage;
|
||||
}
|
||||
|
||||
_battery_status.timestamp = hrt_absolute_time();
|
||||
_battery_status.voltage_v = (BAT_VOL_LOWPASS_1 * (_battery_status.voltage_v + BAT_VOL_LOWPASS_2 * voltage));;
|
||||
/* current and discharge are unknown */
|
||||
_battery_status.current_a = -1.0f;
|
||||
_battery_status.discharged_mah = -1.0f;
|
||||
|
||||
/* announce the battery voltage if needed, just publish else */
|
||||
if (_battery_pub > 0) {
|
||||
orb_publish(ORB_ID(battery_status), _battery_pub, &_battery_status);
|
||||
|
||||
} else {
|
||||
_battery_pub = orb_advertise(ORB_ID(battery_status), &_battery_status);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
raw.battery_voltage_counter++;
|
||||
_last_adc = hrt_absolute_time();
|
||||
break;
|
||||
}
|
||||
}
|
||||
_last_adc = hrt_absolute_time();
|
||||
}
|
||||
}
|
||||
|
||||
|
@ -1012,6 +1049,7 @@ Sensors::ppm_poll()
|
|||
/* publish to object request broker */
|
||||
if (rc_input_pub <= 0) {
|
||||
rc_input_pub = orb_advertise(ORB_ID(input_rc), &raw);
|
||||
|
||||
} else {
|
||||
orb_publish(ORB_ID(input_rc), rc_input_pub, &raw);
|
||||
}
|
||||
|
@ -1052,6 +1090,7 @@ Sensors::ppm_poll()
|
|||
return;
|
||||
|
||||
unsigned channel_limit = rc_input.channel_count;
|
||||
|
||||
if (channel_limit > _rc_max_chan_count)
|
||||
channel_limit = _rc_max_chan_count;
|
||||
|
||||
|
@ -1064,10 +1103,11 @@ Sensors::ppm_poll()
|
|||
/* scale around the mid point differently for lower and upper range */
|
||||
if (rc_input.values[i] > (_parameters.trim[i] + _parameters.dz[i])) {
|
||||
_rc.chan[i].scaled = (rc_input.values[i] - _parameters.trim[i]) / (float)(_parameters.max[i] - _parameters.trim[i]);
|
||||
|
||||
} else if (rc_input.values[i] < (_parameters.trim[i] - _parameters.dz[i])) {
|
||||
/* division by zero impossible for trim == min (as for throttle), as this falls in the above if clause */
|
||||
_rc.chan[i].scaled = -((_parameters.trim[i] - rc_input.values[i]) / (float)(_parameters.trim[i] - _parameters.min[i]));
|
||||
|
||||
|
||||
} else {
|
||||
/* in the configured dead zone, output zero */
|
||||
_rc.chan[i].scaled = 0.0f;
|
||||
|
@ -1078,6 +1118,7 @@ Sensors::ppm_poll()
|
|||
if ((int)_parameters.rev[i] == -1) {
|
||||
_rc.chan[i].scaled = 1.0f + -1.0f * _rc.chan[i].scaled;
|
||||
}
|
||||
|
||||
} else {
|
||||
_rc.chan[i].scaled *= _parameters.rev[i];
|
||||
}
|
||||
|
@ -1103,7 +1144,9 @@ Sensors::ppm_poll()
|
|||
manual_control.yaw = limit_minus_one_to_one(_rc.chan[_rc.function[YAW]].scaled);
|
||||
/* throttle input */
|
||||
manual_control.throttle = _rc.chan[_rc.function[THROTTLE]].scaled;
|
||||
|
||||
if (manual_control.throttle < 0.0f) manual_control.throttle = 0.0f;
|
||||
|
||||
if (manual_control.throttle > 1.0f) manual_control.throttle = 1.0f;
|
||||
|
||||
/* scale output */
|
||||
|
@ -1175,6 +1218,7 @@ Sensors::ppm_poll()
|
|||
/* check if ready for publishing */
|
||||
if (_rc_pub > 0) {
|
||||
orb_publish(ORB_ID(rc_channels), _rc_pub, &_rc);
|
||||
|
||||
} else {
|
||||
/* advertise the rc topic */
|
||||
_rc_pub = orb_advertise(ORB_ID(rc_channels), &_rc);
|
||||
|
@ -1183,6 +1227,7 @@ Sensors::ppm_poll()
|
|||
/* check if ready for publishing */
|
||||
if (_manual_control_pub > 0) {
|
||||
orb_publish(ORB_ID(manual_control_setpoint), _manual_control_pub, &manual_control);
|
||||
|
||||
} else {
|
||||
_manual_control_pub = orb_advertise(ORB_ID(manual_control_setpoint), &manual_control);
|
||||
}
|
||||
|
@ -1260,7 +1305,7 @@ Sensors::task_main()
|
|||
fds[0].events = POLLIN;
|
||||
|
||||
while (!_task_should_exit) {
|
||||
|
||||
|
||||
/* wait for up to 500ms for data */
|
||||
int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
|
||||
|
||||
|
@ -1329,6 +1374,7 @@ Sensors::start()
|
|||
warn("task start failed");
|
||||
return -errno;
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
|
@ -1343,6 +1389,7 @@ int sensors_main(int argc, char *argv[])
|
|||
errx(1, "sensors task already running");
|
||||
|
||||
sensors::g_sensors = new Sensors;
|
||||
|
||||
if (sensors::g_sensors == nullptr)
|
||||
errx(1, "sensors task alloc failed");
|
||||
|
||||
|
@ -1351,12 +1398,14 @@ int sensors_main(int argc, char *argv[])
|
|||
sensors::g_sensors = nullptr;
|
||||
err(1, "sensors task start failed");
|
||||
}
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "stop")) {
|
||||
if (sensors::g_sensors == nullptr)
|
||||
errx(1, "sensors task not running");
|
||||
|
||||
delete sensors::g_sensors;
|
||||
sensors::g_sensors = nullptr;
|
||||
exit(0);
|
||||
|
@ -1365,6 +1414,7 @@ int sensors_main(int argc, char *argv[])
|
|||
if (!strcmp(argv[1], "status")) {
|
||||
if (sensors::g_sensors) {
|
||||
errx(0, "task is running");
|
||||
|
||||
} else {
|
||||
errx(1, "task is not running");
|
||||
}
|
||||
|
|
|
@ -41,31 +41,36 @@ SUBDIRS = free i2c install readline poweroff ramtron sdcard sysinfo
|
|||
|
||||
# Create the list of installed runtime modules (INSTALLED_DIRS)
|
||||
|
||||
ifeq ($(CONFIG_WINDOWS_NATIVE),y)
|
||||
define ADD_DIRECTORY
|
||||
INSTALLED_DIRS += ${shell if [ -r $1/Makefile ]; then echo "$1"; fi}
|
||||
INSTALLED_DIRS += $(if $(wildcard .\$1\Makefile),$1,)
|
||||
endef
|
||||
else
|
||||
define ADD_DIRECTORY
|
||||
INSTALLED_DIRS += $(if $(wildcard ./$1/Makefile),$1,)
|
||||
endef
|
||||
endif
|
||||
|
||||
$(foreach DIR, $(SUBDIRS), $(eval $(call ADD_DIRECTORY,$(DIR))))
|
||||
|
||||
all: nothing
|
||||
.PHONY: nothing context depend clean distclean
|
||||
|
||||
define SDIR_template
|
||||
$(1)_$(2):
|
||||
$(Q) $(MAKE) -C $(1) $(2) TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"
|
||||
endef
|
||||
|
||||
$(foreach SDIR, $(INSTALLED_DIRS), $(eval $(call SDIR_template,$(SDIR),depend)))
|
||||
$(foreach SDIR, $(INSTALLED_DIRS), $(eval $(call SDIR_template,$(SDIR),clean)))
|
||||
$(foreach SDIR, $(INSTALLED_DIRS), $(eval $(call SDIR_template,$(SDIR),distclean)))
|
||||
|
||||
nothing:
|
||||
|
||||
context:
|
||||
|
||||
depend:
|
||||
@for dir in $(INSTALLED_DIRS) ; do \
|
||||
$(MAKE) -C $$dir depend TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"; \
|
||||
done
|
||||
depend: $(foreach SDIR, $(INSTALLED_DIRS), $(SDIR)_depend)
|
||||
|
||||
clean:
|
||||
@for dir in $(INSTALLED_DIRS) ; do \
|
||||
$(MAKE) -C $$dir clean TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"; \
|
||||
done
|
||||
|
||||
distclean: clean
|
||||
@for dir in $(INSTALLED_DIRS) ; do \
|
||||
$(MAKE) -C $$dir distclean TOPDIR="$(TOPDIR)" APPDIR="$(APPDIR)"; \
|
||||
done
|
||||
clean: $(foreach SDIR, $(INSTALLED_DIRS), $(SDIR)_clean)
|
||||
|
||||
distclean: clean $(foreach SDIR, $(INSTALLED_DIRS), $(SDIR)_distclean)
|
||||
|
|
|
@ -1,7 +1,7 @@
|
|||
############################################################################
|
||||
# apps/system/free/Makefile
|
||||
#
|
||||
# Copyright (C) 2011 Uros Platise. All rights reserved.
|
||||
# Copyright (C) 2011-2012 Uros Platise. All rights reserved.
|
||||
# Author: Uros Platise <uros.platise@isotel.eu>
|
||||
# Gregory Nutt <gnutt@nuttx.org>
|
||||
#
|
||||
|
@ -61,10 +61,14 @@ COBJS = $(CSRCS:.c=$(OBJEXT))
|
|||
SRCS = $(ASRCS) $(CSRCS)
|
||||
OBJS = $(AOBJS) $(COBJS)
|
||||
|
||||
ifeq ($(WINTOOL),y)
|
||||
BIN = "${shell cygpath -w $(APPDIR)/libapps$(LIBEXT)}"
|
||||
ifeq ($(CONFIG_WINDOWS_NATIVE),y)
|
||||
BIN = ..\..\libapps$(LIBEXT)
|
||||
else
|
||||
BIN = "$(APPDIR)/libapps$(LIBEXT)"
|
||||
ifeq ($(WINTOOL),y)
|
||||
BIN = ..\\..\\libapps$(LIBEXT)
|
||||
else
|
||||
BIN = ../../libapps$(LIBEXT)
|
||||
endif
|
||||
endif
|
||||
|
||||
ROOTDEPPATH = --dep-path .
|
||||
|
@ -83,32 +87,32 @@ $(COBJS): %$(OBJEXT): %.c
|
|||
$(call COMPILE, $<, $@)
|
||||
|
||||
.built: $(OBJS)
|
||||
@( for obj in $(OBJS) ; do \
|
||||
$(call ARCHIVE, $(BIN), $${obj}); \
|
||||
done ; )
|
||||
@touch .built
|
||||
$(call ARCHIVE, $(BIN), $(OBJS))
|
||||
$(Q) touch .built
|
||||
|
||||
# Register application
|
||||
|
||||
.context:
|
||||
$(call REGISTER,$(APPNAME),$(PRIORITY),$(STACKSIZE),$(APPNAME)_main)
|
||||
@touch $@
|
||||
$(Q) touch $@
|
||||
|
||||
context: .context
|
||||
|
||||
# Create dependencies
|
||||
|
||||
.depend: Makefile $(SRCS)
|
||||
@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
@touch $@
|
||||
$(Q) $(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
$(Q) touch $@
|
||||
|
||||
depend: .depend
|
||||
|
||||
clean:
|
||||
@rm -f *.o *~ .*.swp .built
|
||||
$(call DELFILE, .built)
|
||||
$(call CLEAN)
|
||||
|
||||
distclean: clean
|
||||
@rm -f .context Make.dep .depend
|
||||
$(call DELFILE, .context)
|
||||
$(call DELFILE, Make.dep)
|
||||
$(call DELFILE, .depend)
|
||||
|
||||
-include Make.dep
|
||||
|
|
|
@ -48,10 +48,14 @@ COBJS = $(CSRCS:.c=$(OBJEXT))
|
|||
SRCS = $(ASRCS) $(CSRCS)
|
||||
OBJS = $(AOBJS) $(COBJS)
|
||||
|
||||
ifeq ($(WINTOOL),y)
|
||||
BIN = "${shell cygpath -w $(APPDIR)/libapps$(LIBEXT)}"
|
||||
ifeq ($(CONFIG_WINDOWS_NATIVE),y)
|
||||
BIN = ..\..\libapps$(LIBEXT)
|
||||
else
|
||||
BIN = "$(APPDIR)/libapps$(LIBEXT)"
|
||||
ifeq ($(WINTOOL),y)
|
||||
BIN = ..\\..\\libapps$(LIBEXT)
|
||||
else
|
||||
BIN = ../../libapps$(LIBEXT)
|
||||
endif
|
||||
endif
|
||||
|
||||
ROOTDEPPATH = --dep-path .
|
||||
|
@ -73,30 +77,29 @@ $(COBJS): %$(OBJEXT): %.c
|
|||
$(call COMPILE, $<, $@)
|
||||
|
||||
.built: $(OBJS)
|
||||
@( for obj in $(OBJS) ; do \
|
||||
$(call ARCHIVE, $(BIN), $${obj}); \
|
||||
done ; )
|
||||
@touch .built
|
||||
$(call ARCHIVE, $(BIN), $(OBJS))
|
||||
$(Q) touch .built
|
||||
|
||||
.context:
|
||||
$(call REGISTER,$(APPNAME),$(PRIORITY),$(STACKSIZE),$(APPNAME)_main)
|
||||
@touch $@
|
||||
$(Q) touch $@
|
||||
|
||||
context: .context
|
||||
|
||||
.depend: Makefile $(SRCS)
|
||||
@$(MKDEP) $(ROOTDEPPATH) \
|
||||
$(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
@touch $@
|
||||
$(Q) $(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
$(Q) touch $@
|
||||
|
||||
depend: .depend
|
||||
|
||||
clean:
|
||||
@rm -f *.o *~ .*.swp .built
|
||||
$(call DELFILE, .built)
|
||||
$(call CLEAN)
|
||||
|
||||
distclean: clean
|
||||
@rm -f Make.dep .depend
|
||||
$(call DELFILE, .context)
|
||||
$(call DELFILE, Make.dep)
|
||||
$(call DELFILE, .depend)
|
||||
|
||||
-include Make.dep
|
||||
|
||||
|
|
|
@ -2,6 +2,7 @@
|
|||
# apps/system/install/Makefile
|
||||
#
|
||||
# Copyright (C) 2011 Uros Platise. All rights reserved.
|
||||
# Copyright (C) 2012 Gregory Nutt. All rights reserved.
|
||||
# Author: Uros Platise <uros.platise@isotel.eu>
|
||||
# Gregory Nutt <gnutt@nuttx.org>
|
||||
#
|
||||
|
@ -61,10 +62,14 @@ COBJS = $(CSRCS:.c=$(OBJEXT))
|
|||
SRCS = $(ASRCS) $(CSRCS)
|
||||
OBJS = $(AOBJS) $(COBJS)
|
||||
|
||||
ifeq ($(WINTOOL),y)
|
||||
BIN = "${shell cygpath -w $(APPDIR)/libapps$(LIBEXT)}"
|
||||
ifeq ($(CONFIG_WINDOWS_NATIVE),y)
|
||||
BIN = ..\..\libapps$(LIBEXT)
|
||||
else
|
||||
BIN = "$(APPDIR)/libapps$(LIBEXT)"
|
||||
ifeq ($(WINTOOL),y)
|
||||
BIN = ..\\..\\libapps$(LIBEXT)
|
||||
else
|
||||
BIN = ../../libapps$(LIBEXT)
|
||||
endif
|
||||
endif
|
||||
|
||||
ROOTDEPPATH = --dep-path .
|
||||
|
@ -83,32 +88,32 @@ $(COBJS): %$(OBJEXT): %.c
|
|||
$(call COMPILE, $<, $@)
|
||||
|
||||
.built: $(OBJS)
|
||||
@( for obj in $(OBJS) ; do \
|
||||
$(call ARCHIVE, $(BIN), $${obj}); \
|
||||
done ; )
|
||||
@touch .built
|
||||
$(call ARCHIVE, $(BIN), $(OBJS))
|
||||
$(Q) touch .built
|
||||
|
||||
# Register application
|
||||
|
||||
.context:
|
||||
$(call REGISTER,$(APPNAME),$(PRIORITY),$(STACKSIZE),$(APPNAME)_main)
|
||||
@touch $@
|
||||
$(Q) touch $@
|
||||
|
||||
context: .context
|
||||
|
||||
# Create dependencies
|
||||
|
||||
.depend: Makefile $(SRCS)
|
||||
@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
@touch $@
|
||||
$(Q) $(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
$(Q) touch $@
|
||||
|
||||
depend: .depend
|
||||
|
||||
clean:
|
||||
@rm -f *.o *~ .*.swp .built
|
||||
$(call DELFILE, .built)
|
||||
$(call CLEAN)
|
||||
|
||||
distclean: clean
|
||||
@rm -f .context Make.dep .depend
|
||||
$(call DELFILE, .context)
|
||||
$(call DELFILE, Make.dep)
|
||||
$(call DELFILE, .depend)
|
||||
|
||||
-include Make.dep
|
||||
|
|
|
@ -52,10 +52,14 @@ COBJS = $(CSRCS:.c=$(OBJEXT))
|
|||
SRCS = $(ASRCS) $(CSRCS)
|
||||
OBJS = $(AOBJS) $(COBJS)
|
||||
|
||||
ifeq ($(WINTOOL),y)
|
||||
BIN = "${shell cygpath -w $(APPDIR)/libapps$(LIBEXT)}"
|
||||
ifeq ($(CONFIG_WINDOWS_NATIVE),y)
|
||||
BIN = ..\..\libapps$(LIBEXT)
|
||||
else
|
||||
BIN = "$(APPDIR)/libapps$(LIBEXT)"
|
||||
ifeq ($(WINTOOL),y)
|
||||
BIN = ..\\..\\libapps$(LIBEXT)
|
||||
else
|
||||
BIN = ../../libapps$(LIBEXT)
|
||||
endif
|
||||
endif
|
||||
|
||||
ROOTDEPPATH = --dep-path .
|
||||
|
@ -74,10 +78,8 @@ $(COBJS): %$(OBJEXT): %.c
|
|||
$(call COMPILE, $<, $@)
|
||||
|
||||
.built: $(OBJS)
|
||||
@( for obj in $(OBJS) ; do \
|
||||
$(call ARCHIVE, $(BIN), $${obj}); \
|
||||
done ; )
|
||||
@touch .built
|
||||
$(call ARCHIVE, $(BIN), $(OBJS))
|
||||
$(Q) touch .built
|
||||
|
||||
# Context build phase target
|
||||
|
||||
|
@ -86,18 +88,20 @@ context:
|
|||
# Dependency build phase target
|
||||
|
||||
.depend: Makefile $(SRCS)
|
||||
@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
@touch $@
|
||||
$(Q) $(MKDEP) $(ROOTDEPPATH) "$(CC)" -- $(CFLAGS) -- $(SRCS) >Make.dep
|
||||
$(Q) touch $@
|
||||
|
||||
depend: .depend
|
||||
|
||||
# Housekeeping targets
|
||||
|
||||
clean:
|
||||
@rm -f *.o *~ .*.swp .built
|
||||
$(call DELFILE, .built)
|
||||
$(call CLEAN)
|
||||
|
||||
distclean: clean
|
||||
@rm -f .context Make.dep .depend
|
||||
$(call DELFILE, .context)
|
||||
$(call DELFILE, Make.dep)
|
||||
$(call DELFILE, .depend)
|
||||
|
||||
-include Make.dep
|
||||
|
|
|
@ -163,6 +163,8 @@ static ssize_t at24c_bwrite(FAR struct mtd_dev_s *dev, off_t startblock,
|
|||
size_t nblocks, FAR const uint8_t *buf);
|
||||
static int at24c_ioctl(FAR struct mtd_dev_s *dev, int cmd, unsigned long arg);
|
||||
|
||||
void at24c_test(void);
|
||||
|
||||
/************************************************************************************
|
||||
* Private Data
|
||||
************************************************************************************/
|
||||
|
@ -218,6 +220,31 @@ static int at24c_erase(FAR struct mtd_dev_s *dev, off_t startblock, size_t nbloc
|
|||
return (int)nblocks;
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: at24c_test
|
||||
************************************************************************************/
|
||||
|
||||
void at24c_test(void)
|
||||
{
|
||||
uint8_t buf[CONFIG_AT24XX_MTD_BLOCKSIZE];
|
||||
unsigned count = 0;
|
||||
unsigned errors = 0;
|
||||
|
||||
for (count = 0; count < 10000; count++) {
|
||||
ssize_t result = at24c_bread(&g_at24c.mtd, 0, 1, buf);
|
||||
if (result == ERROR) {
|
||||
if (errors++ > 2) {
|
||||
vdbg("too many errors\n");
|
||||
return;
|
||||
}
|
||||
} else if (result != 1) {
|
||||
vdbg("unexpected %u\n", result);
|
||||
}
|
||||
if ((count % 100) == 0)
|
||||
vdbg("test %u errors %u\n", count, errors);
|
||||
}
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: at24c_bread
|
||||
************************************************************************************/
|
||||
|
|
|
@ -73,6 +73,7 @@ static void eeprom_erase(void);
|
|||
static void eeprom_ioctl(unsigned operation);
|
||||
static void eeprom_save(const char *name);
|
||||
static void eeprom_load(const char *name);
|
||||
static void eeprom_test(void);
|
||||
|
||||
static bool attached = false;
|
||||
static bool started = false;
|
||||
|
@ -93,6 +94,9 @@ int eeprom_main(int argc, char *argv[])
|
|||
if (!strcmp(argv[1], "erase"))
|
||||
eeprom_erase();
|
||||
|
||||
if (!strcmp(argv[1], "test"))
|
||||
eeprom_test();
|
||||
|
||||
if (0) { /* these actually require a file on the filesystem... */
|
||||
|
||||
if (!strcmp(argv[1], "reformat"))
|
||||
|
@ -250,3 +254,12 @@ eeprom_load(const char *name)
|
|||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
extern void at24c_test(void);
|
||||
|
||||
static void
|
||||
eeprom_test(void)
|
||||
{
|
||||
at24c_test();
|
||||
exit(0);
|
||||
}
|
||||
|
|
|
@ -68,6 +68,9 @@ ORB_DEFINE(sensor_combined, struct sensor_combined_s);
|
|||
#include "topics/vehicle_gps_position.h"
|
||||
ORB_DEFINE(vehicle_gps_position, struct vehicle_gps_position_s);
|
||||
|
||||
#include "topics/home_position.h"
|
||||
ORB_DEFINE(home_position, struct home_position_s);
|
||||
|
||||
#include "topics/vehicle_status.h"
|
||||
ORB_DEFINE(vehicle_status, struct vehicle_status_s);
|
||||
|
||||
|
|
|
@ -0,0 +1,77 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
|
||||
* 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
|
||||
* 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 home_position.h
|
||||
* Definition of the GPS home position uORB topic.
|
||||
*
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
*/
|
||||
|
||||
#ifndef TOPIC_HOME_POSITION_H_
|
||||
#define TOPIC_HOME_POSITION_H_
|
||||
|
||||
#include <stdint.h>
|
||||
#include "../uORB.h"
|
||||
|
||||
/**
|
||||
* @addtogroup topics
|
||||
* @{
|
||||
*/
|
||||
|
||||
/**
|
||||
* GPS home position in WGS84 coordinates.
|
||||
*/
|
||||
struct home_position_s
|
||||
{
|
||||
uint64_t timestamp; /**< Timestamp (microseconds since system boot) */
|
||||
uint64_t time_gps_usec; /**< Timestamp (microseconds in GPS format), this is the timestamp from the gps module */
|
||||
|
||||
int32_t lat; /**< Latitude in 1E7 degrees */
|
||||
int32_t lon; /**< Longitude in 1E7 degrees */
|
||||
int32_t alt; /**< Altitude in 1E3 meters (millimeters) above MSL */
|
||||
uint16_t eph; /**< GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 */
|
||||
uint16_t epv; /**< GPS VDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 */
|
||||
float s_variance; /**< speed accuracy estimate cm/s */
|
||||
float p_variance; /**< position accuracy estimate cm */
|
||||
};
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
/* register this as object request broker structure */
|
||||
ORB_DECLARE(home_position);
|
||||
|
||||
#endif
|
|
@ -102,8 +102,6 @@ struct sensor_combined_s {
|
|||
float adc_voltage_v[4]; /**< ADC voltages of ADC Chan 10/11/12/13 or -1 */
|
||||
float mcu_temp_celcius; /**< Internal temperature measurement of MCU */
|
||||
uint32_t baro_counter; /**< Number of raw baro measurements taken */
|
||||
uint32_t battery_voltage_counter; /**< Number of voltage measurements taken */
|
||||
bool battery_voltage_valid; /**< True if battery voltage can be measured */
|
||||
|
||||
};
|
||||
|
||||
|
|
|
@ -163,6 +163,57 @@ dtoa():
|
|||
"This product includes software developed by the University of
|
||||
California, Berkeley and its contributors."
|
||||
|
||||
libc/string/lib_vikmemcpy.c
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
|
||||
If you enable CONFIG_MEMCPY_VIK, then you will build with the optimized
|
||||
version of memcpy from Daniel Vik. Licensing information for that version
|
||||
of memcpy() follows:
|
||||
|
||||
Copyright (C) 1999-2010 Daniel Vik
|
||||
|
||||
This software is provided 'as-is', without any express or implied
|
||||
warranty. In no event will the authors be held liable for any
|
||||
damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any
|
||||
purpose, including commercial applications, and to alter it and
|
||||
redistribute it freely, subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you
|
||||
must not claim that you wrote the original software. If you
|
||||
use this software in a product, an acknowledgment in the
|
||||
use this software in a product, an acknowledgment in the
|
||||
product documentation would be appreciated but is not
|
||||
required.
|
||||
|
||||
2. Altered source versions must be plainly marked as such, and
|
||||
must not be misrepresented as being the original software.
|
||||
|
||||
3. This notice may not be removed or altered from any source
|
||||
distribution.
|
||||
|
||||
libc/math
|
||||
^^^^^^^^^
|
||||
|
||||
If you enable CONFIG_LIB, you will build the math library at libc/math.
|
||||
This library was taken from the math library developed for the Rhombus
|
||||
OS by Nick Johnson (https://github.com/nickbjohnson4224/rhombus). This
|
||||
port was contributed by Darcy Gong. The Rhombus math library has this
|
||||
compatible MIT license:
|
||||
|
||||
Copyright (C) 2009-2011 Nick Johnson <nickbjohnson4224 at gmail.com>
|
||||
|
||||
Permission to use, copy, modify, and distribute this software for any
|
||||
purpose with or without fee is hereby granted, provided that the above
|
||||
copyright notice and this permission notice appear in all copies.
|
||||
|
||||
THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
|
||||
WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
|
||||
MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
|
||||
ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
|
||||
WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
|
||||
ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
|
||||
|
||||
Documents/rss.gif
|
||||
^^^^^^^^^^^^^^^^^
|
||||
|
||||
|
|
332
nuttx/ChangeLog
332
nuttx/ChangeLog
|
@ -3453,7 +3453,7 @@
|
|||
* net/uip/uip_icmpping.c: Fix problem that prevented ping from
|
||||
going outside of local network. Submitted by Darcy Gong
|
||||
|
||||
6.23 2012-09-29 Gregory Nutt <gnutt@nuttx.org>
|
||||
6.23 2012-11-05 Gregory Nutt <gnutt@nuttx.org>
|
||||
|
||||
* arch/arm/src/stm32/stm32_rng.c, chip/stm32_rng.h, and other files:
|
||||
Implementation of /dev/random using the STM32 Random Number
|
||||
|
@ -3470,4 +3470,334 @@
|
|||
* configs/shenzhou/*/Make.defs: Now uses the new buildroot 4.6.3
|
||||
EABI toolchain.
|
||||
* lib/stdio/lib_libdtoa.c: Another dtoa() fix from Mike Smith.
|
||||
* configs/shenzhou/src/up_adc.c: Add ADC support for the Shenzhou
|
||||
board (Darcy Gong).
|
||||
* configs/shenzhou/thttpd: Add a THTTPD configuration for the
|
||||
Shenzhou board (Darcy Gong).
|
||||
* include/termios.h and lib/termios/libcf*speed.c: The non-standard,
|
||||
"hidden" c_speed cannot be type const or else static instantiations
|
||||
of termios will be required to initialize it (Mike Smith).
|
||||
* drivers/input/max11802.c/h, and include/nuttx/input max11802.h: Adds
|
||||
support for the Maxim MAX11802 touchscreen controller (contributed by
|
||||
Petteri Aimonen).
|
||||
* graphics/nxtk/nxtk_events.c: Missing implementation of the blocked
|
||||
method. This is a critical bugfix for graphics support (contributed
|
||||
by Petteri Aimonen).
|
||||
* drivers/usbdev/pl2303.c, drivers/usbdev/usbmsc.h, and
|
||||
include/nuttx/usb/cdcacm.h: USB_CONFIG_ATTR_SELFPOWER vs.
|
||||
USB_CONFIG_ATT_SELFPOWER (contributed by Petteri Aimonen).
|
||||
* arch/arm/src/armv7-m/up_memcpy.S: An optimized memcpy() function for
|
||||
the ARMv7-M family contributed by Mike Smith.
|
||||
* lib/strings/lib_vikmemcpy.c: As an option, the larger but faster
|
||||
implemementation of memcpy from Daniel Vik is now available (this is
|
||||
from http://www.danielvik.com/2010/02/fast-memcpy-in-c.html).
|
||||
* lib/strings/lib_memset.c: CONFIG_MEMSET_OPTSPEED will select a
|
||||
version of memset() optimized for speed. By default, memset() is
|
||||
optimized for size.
|
||||
* lib/strings/lib_memset.c: CONFIG_MEMSET_64BIT will perform 64-bit
|
||||
aligned memset() operations.
|
||||
* arch/arm/src/stm32/stm32_adc.c: Need to put the ADC back into the
|
||||
initial reset in the open/setup logic. Opening the ADC driver works
|
||||
the first time, but not the second because the device is left in a
|
||||
powered down state on the last close.
|
||||
* configs/olimex-lpc1766stck/scripts: Replace all of the identical
|
||||
ld.script files with the common one in this directory.
|
||||
* configs/stm3220g-eval/scripts: Replace all of the identical
|
||||
ld.script files with the common one in this directory.
|
||||
* configs/hymini-stm32v/scripts: Replace all of the identical
|
||||
ld.script files with the common one in this directory.
|
||||
* configs/lpcxpresso-lpc1768/scripts: Replace all of the identical
|
||||
ld.script files with the common one in this directory.
|
||||
* binfmt/elf.c, binfmt/libelf, include/elf.h, include/nuttx/elf.h: Add
|
||||
basic framework for loadable ELF module support. The initial check-
|
||||
in is non-functional and is simply the framework for ELF support.
|
||||
* include/nuttx/binfmt.h, nxflat.h, elf.h, and symtab.h: Moved to
|
||||
include/nuttx/binfmt/.
|
||||
* arch/sim/src/up_elf.c and arch/x86/src/common/up_elf.c: Add
|
||||
for ELF modules.
|
||||
* arch/arm/include/elf.h: Added ARM ELF header file.
|
||||
* include/elf32.h: Renamed elf.h to elf32.h.
|
||||
* configs/stm32f4discovery/ostest: Converted to use the new
|
||||
Kconfig-based configuration system.
|
||||
* configs/stm32f4discovery/elf and configs/stm32f4discovery/scripts/gnu-elf.ld
|
||||
Add a configuration for testing the ARM ELF loader.
|
||||
* binfmt/libelf: Can't use fstat(). NuttX does not yet support it. Damn!
|
||||
* binfmt/libelf: The basic ELF module execution appears fully functional.
|
||||
* configs/shenzhou/src/up_relays.c: Add support for relays from the
|
||||
Shenzhou board. Contributed by Darcy Gong.
|
||||
* lib/fixedmath: Moved the old lib/math to lib/fixedmath to make room for
|
||||
the math library from the Rhombus OS
|
||||
* lib/math: Now contains the math library from the Rhombus OS by Nick Johnson
|
||||
(submitted by Darcy Gong).
|
||||
* include/float.h: Add a first cut at the float.h header file. This
|
||||
really should be an architecture/toolchain-specific header file. It
|
||||
is only used if CONFIG_ARCH_FLOAT_H is defined.
|
||||
* lib/math: Files now conform to coding standards. Separated float,
|
||||
double, and long double versions of code into separate files so that
|
||||
they don't draw in so much un-necessary code when doing a dumb link.
|
||||
* binfmt/libelf: The ELF loader is working correctly with C++ static
|
||||
constructors and destructors and all.
|
||||
* Documentation/NuttXBinfmt.html: Add documentation of the binary loader.
|
||||
* configs/sim/ostest: Converted to use the mconf configuration tool.
|
||||
* configs/sim/cxxtest: New test that will be used to verify the uClibc++
|
||||
port (eventually).
|
||||
* include/nuttx/fs/fs.h, lib/stdio/lib_libfread.c, lib_ferror.c,
|
||||
lib_feof.c, and lib_clearerr.c: Add support for ferror(), feof(),
|
||||
and clearerror(). ferror() support is bogus at the moment (it
|
||||
is equivalent to !feof()); the others should be good.
|
||||
* configs/stm32f4discovery/include/board.h: Correct timer 2-7
|
||||
base frequency (provided by Freddie Chopin).
|
||||
* include/nuttx/sched.h, sched/atexit.c, and sched/task_deletehook.c:
|
||||
If both atexit() and on_exit() are enabled, then implement atexit()
|
||||
as just a special caseof on_exit(). This assumes that the ABI can
|
||||
handle receipt of more call parameters than the receiving function
|
||||
expects. That is usually the case if parameters are passed in
|
||||
registers.
|
||||
* libxx/libxx_cxa_atexit(): Implements __cxa_atexit()
|
||||
* configs/stm32f4discovery/cxxtest: New test that will be used to
|
||||
verify the uClibc++ port (eventually). The sim platform turned not
|
||||
to be a good platform for testing uClibc++. The sim example will not
|
||||
run because the simulator will attempt to execute the static
|
||||
constructors before main() starts. BUT... NuttX is not initialized
|
||||
and this results in a crash. On the STM324Discovery, I will have
|
||||
better control over when the static constructors run.
|
||||
* RGMP 4.0 updated from Qiany Yu.
|
||||
* configs/*/Make.defs and configs/*/ld.script: Massive clean-up
|
||||
and standardization of linker scripts from Freddie Chopin.
|
||||
* net/netdev_ioctl.c: Add interface state flags and ioctl calls
|
||||
to bring network interfaces up and down (from Darcy Gong).
|
||||
* config/stm32f4discovery: Enable C++ exceptions. Now the entire
|
||||
apps/examples/cxxtest works -- meaning the the uClibc++ is
|
||||
complete and verified for the STM32 platform.
|
||||
|
||||
6.24 2012-12-20 Gregory Nutt <gnutt@nuttx.org>
|
||||
|
||||
* arch/arm/src/stm32: Support for STM32F100 high density chips
|
||||
added by Freddie Chopin.
|
||||
* configs/stm32f100_generic: Support for generic STM32F100RC board
|
||||
contributed by Freddie Chopin.
|
||||
* arch/arm/src/stm32_otgfsdev.c: Partial fix from Petteri Aimonen.
|
||||
* drivers/lcd/ug-2864ambag01.c and include/nuttx/lcd/ug_2864ambag01.h:
|
||||
LCD driver for the Univision OLED of the same name (untested on
|
||||
initial check-in).
|
||||
* configs/stm32f4discovery/nxlines: Configure to use mconf/Kconfig
|
||||
tool.
|
||||
* configs/stm32f4discovery/src/up_ug2864ambag01.c: Board-specific
|
||||
initialization for UG-2864AMBAG01 OLED connecte to STM32F4Disovery.
|
||||
* libxx/libxx_stdthrow.cxx: Exception stubs from Petteri Aimonen.
|
||||
* configs/stm32f4discovery/src/up_ug2864ambag01.c: Driver has been
|
||||
verified on the STM32F4Discovery platform. Some tuning of the
|
||||
configuration could improve the presentation. Lower resolution displays
|
||||
are also more subject to the "fat, flat line bug" that I need to fix
|
||||
someday. See http://www.nuttx.org/doku.php?id=wiki:graphics:nxgraphics
|
||||
for a description of the fat, flat line bug.
|
||||
* libc: Renamed nuttx/lib to nuttx/libc to make space for a true lib/
|
||||
directory that will be forthcoming. Also rename libraries: liblib.a -> libc.a,
|
||||
libulib.a -> libuc.a, libklib.a -> libkc.a, liblibxx.a ->libcxx.a.
|
||||
(I will probably, eventually rename libxx to libcxx for consistency)
|
||||
* Makefile, lib/: A new, empty directory that will hold generated libraries.
|
||||
This simplifies the library patch calculations and lets me get rid of some
|
||||
bash logic. The change is functional, but only partially complete;
|
||||
additional logic is needed in the arch/*/src/Makefile's as well. Right
|
||||
now that logic generate multiple library paths, all pointing to the lib/
|
||||
directory.
|
||||
* arch/*/src/Makefile: Now uses only the libraries in lib/
|
||||
Replace bash fragments that test for board/Makefile.
|
||||
* Makefile.win: The beginnings of a Windows-native build. This is just
|
||||
the beginning and not yet ready for prime time use.
|
||||
* configs/stm32f4discovery/winbuild: This is a version of the standard
|
||||
NuttX OS test, but configured to build natively on Windows. Its only
|
||||
real purpose is to very the native Windows build logic.
|
||||
* tools/mkdeps.bat and tools/mkdeps.c: mkdeps.bat is a failed attempt
|
||||
to leverage mkdeps.sh to CMD.exe. It fails because the are certain
|
||||
critical CFLAG values that cannot be passed on the CMD.exe command line
|
||||
(like '='). mkdeps.c is a work in progress that will, hopefully,
|
||||
replace both mkdeps.sh and mkdeps.bat.
|
||||
* tools/Config.mk: Centralize the definition of the script that will be
|
||||
used to generated header file include paths for the compiler. This
|
||||
needs to be centralized in order to support the Windows native build.
|
||||
* tools/incdir.bat: A replacement for tools/incdir.sh for use with the
|
||||
the Windows native build.
|
||||
* Makefile.unix: The existing top-level Makefile has been renamed
|
||||
Makefile.unix.
|
||||
* Makefile: This is a new top-level Makefile that just includes
|
||||
either Makefile.unix or Makefile.win
|
||||
* configs/stm3240g-eval/src: Qencoder fixes from Ryan Sundberg.
|
||||
* arch/arm/src/stm32/stm32_qencoder.c: TIM3 bug fix from Ryan Sundberg.
|
||||
* tools/mkromfsimg.sh: Correct typo in an error message (Ryan Sundberg)
|
||||
* arch/*/src/Makefile: Remove tftboot install and creation of System.map
|
||||
for Windows native build. The first is a necessary change, the second
|
||||
just needs re-implemented.
|
||||
* configs/mirtoo: Update Mirtoo pin definitions for Release 2. Provided
|
||||
by Konstantin Dimitrov.
|
||||
* Fixed an uninitialized variable in the file system that can cause
|
||||
assertions if DEBUG on (contributed by Lorenz Meier).
|
||||
* Config.mk: Defined DELIM to be either / or \, depending upon
|
||||
CONFIG_WINDOWS_NATIVE. This will allow me to eliminate a lot of
|
||||
conditional logic elsewhere.
|
||||
* nuttx/graphics: One a mouse button is pressed, continue to report all
|
||||
mouse button events to the first window that received the the initial
|
||||
button down event, even if the mouse attempts to drag outside the
|
||||
window. From Petteri Aimonen.
|
||||
* nuttx/graphics/nxmu/nx_block.c: One more fix to the NX block message
|
||||
logic from Petteri Aimonen.
|
||||
* include/nuttx/wqueue.h: Some basic definitions to support a user-
|
||||
space work queue (someday in the future).
|
||||
* graphics/nxmu: Add semaphores so buffers messages that send buffers
|
||||
will block until the buffer data has been acted upon.
|
||||
* graphics/nxmw: Extended the blocked messages to cover mouse movement
|
||||
and redraw events. These will also cause problems if sent to a window
|
||||
while it is closing.
|
||||
* arch/several: Change UARTs are enabled for i.MX, LM3S, ez80, and M16C to
|
||||
match how they are enabled for other architectures.
|
||||
* configs/ez80f910200kitg: Convert to use mconf configuration.
|
||||
* sched/pause.c: Implements the POSIX pause() function.
|
||||
* ez80: Lots of changes to ez80 configurations and build logic as I
|
||||
struggle to get a clean Windows build (still not working).
|
||||
* configs/cloudctrl: Darcy Gong's CloudController board. This is a
|
||||
small network relay development board. Based on the Shenzhou IV development
|
||||
board design. It is based on the STM32F107VC MCU.
|
||||
* arch/arm/src/stm32_serial.c and stm32_lowputc.c: Added optional RS-485
|
||||
direction bit control. From Freddie Chopin.
|
||||
* Lots of build files: ARMv7-M and MIPS32 Make.defs now include a common
|
||||
Toolchain.defs file that can be used to manage toolchains in a more
|
||||
configurable way. Contributed by Mike Smith
|
||||
* configs/stm32f4discovery/winbuild and configs/cloudctrl: Adapted to use
|
||||
Mike's Toolchain.defs.
|
||||
* tools/configure.sh: Adapted to handle paths and setenv.bat files correctly
|
||||
for native Windows builds.
|
||||
* More of build files: AVR and AVR32 Make.defs now include a common
|
||||
Toolchain.defs file that can be used to manage toolchains in a more
|
||||
configurable way. Contributed by Mike Smith
|
||||
* tools/incdir.sh and incdir.bat: Add -s option to generate system header
|
||||
file paths.
|
||||
* nuttx/arch/arm/src/arm/Toolchain.defs: Add support for more ARM toolchains
|
||||
(from Mike Smith).
|
||||
* arch/arm/src/stm32/stm32f40xxx_rcc.c: Enabled FLASH prefetch (from Petteri
|
||||
Aimonen).
|
||||
* graphics/nxtk/nxtk_filltrapwindow.c: Correct an offset problem (from
|
||||
Peterri Aimonen).
|
||||
* graphics/nxglib/nxglib_splitline.c: Fix error in drawing of near horizontal
|
||||
lines (from Peterri Aimonen).
|
||||
* sched/task_exithook.c: Missing right bracket with certain conditional
|
||||
compilation (thanks James Goppert).
|
||||
* arch/arm/srch/stm32/stm32_otgfshost.c: Replace timeout handling; use
|
||||
system tick instead of frame counter. The frame counter gets reset to
|
||||
zero at 0x3fff making it error prone.
|
||||
* arch/arm/src/stm32/stm32f20xx_rcc.c and stm32f40xx_rcc.c: Added option
|
||||
CONFIG_STM32_FLASH_PREFETCH. FLASH prefetch will now only be enabled
|
||||
if this option is selected.
|
||||
* confgs/ez80f910200zco/ostest: Now uses Kconfig/mconf configuration
|
||||
tool. Updated to build in native Windows environment. Other ez80f910200zco
|
||||
build scripts also updated.
|
||||
* configs/z8f64200100kit/ostest: Update to same level as ez80 configurations.
|
||||
* nuttx/configs/z8f64200100kit/scripts/setenv.bat: Add support for native
|
||||
Windows build.
|
||||
* nuttx/arch/arm/src/lpc17xx/lpc17_i2c.c: Resources not being released when
|
||||
I2C is uninitialized.
|
||||
* cloudctrl/src/up_chipid.c and shenzhou/src/up_chipid.c: Add functions to
|
||||
get chip ID. Contributed by Darcy Gong. These should not be board-dependent,
|
||||
but should be in arch/arm/src/stm32 where they can be used from any board.
|
||||
* sched/work_thread.c: Fix backward conditional compilation. This might
|
||||
has caused a memory leak. From Freddie Chopin.
|
||||
* configs/<many>/Make.defs: Fix typo -wstrict-prototypes should be
|
||||
-Wstrict-prototypes (From Denis Carilki).
|
||||
* arch/arm/src/calapyso/calypso_keypad.c: Add Calypso keypad driver. From
|
||||
Denis Carilki.
|
||||
* z8encore000zco/ostest and z8f64200100kit/ostest: Converted to use Kconfig/
|
||||
mconf configuration tool.
|
||||
* arch/arm/src/armv7-m/up_exception.S: missing curly braces for push/pop
|
||||
From Freddie Chopin.
|
||||
* z8encore000zco/ostest and z8f64200100kit/ostest: Can now be modified to
|
||||
support the Windows native builds (see corresponding README.txt files).
|
||||
* configs/z16f2800100zcog - All configurations updated to use the ZDS-II
|
||||
5.0.1 toolchain.
|
||||
* configs/z16f2800100zcog - All configurations updated to use Kconfig/mconf
|
||||
configuration tools.
|
||||
* configs/z16f2800100zcog/ostest - Now supports a native Windows build
|
||||
(other ZNEO configs may also support the native build, but this has not
|
||||
been verfiied).
|
||||
* include/nuttx/input/keypad.h, arch/arm/src/calypso/calypso_keypad.c, and
|
||||
configs/compal_e99/nsh_highram: First cut at a standard keypad interface
|
||||
definition. Contributed by Denis Carikli.
|
||||
* libc/stdlib/lib_rand.c: Always add one to result congruential generators
|
||||
to avoid the value zero. Suggested by Freddie Chopin.
|
||||
* tools/b16.c: Fixed precision math conversion utility.
|
||||
* graphics/nxglib/nxglib_splitline.c: Fix the "fat, flat line bug"
|
||||
* arch/z80/src/*/Toolchain.defs: Add dummy Toolchain.defs files for the
|
||||
z80 family.
|
||||
* configs/z80sim/ostest: Converted to build with the Kconfig/mconf tool.
|
||||
Current configuration failed to build for me (Ubuntu 12.10, SDCC 3.2.0
|
||||
pre-built for Linux) due to a glibc memory corruptionerror in SDCC.
|
||||
* configs/z80sim/ostest: Default is now the Windows native build. See
|
||||
configs/z80sim/README.txt for instructions to convert back to a Linux or
|
||||
or Cygwin build.
|
||||
* arch/z80/src/Makefile.sdccw: Renamed makefiles with extensions zdiil,
|
||||
zdiiw, sdccl, and sdccw for the ZDS-II vs SDCC compilers and for the
|
||||
POSIX vs Windows native builds.
|
||||
* nuttx/drivers/mtd/ftl.c: Fix for the flash translation layer. Short
|
||||
unaligned writes were buggy. From Petteri Aimonen.
|
||||
* nuttx/libc/math/lib_round*.c: Add rounding functions to the math
|
||||
library. Contributed by Petteri Aimonen.
|
||||
* include/cxx/cstdlib: Add stroul(). From Petteri Aimonen.
|
||||
* arch/*/include/limits.h: Change signed minimum values from, for example,
|
||||
(-128) to (-127 - 1) to avoid overflows under certain conditions. From
|
||||
Peterri Aimonen.
|
||||
* graphics/nxtk/nxtk_subwindowmove.c: Previously it was very difficult to
|
||||
do e.g. "scroll by dx, dy". When given the full window area, nxtk_subwindowmove
|
||||
would clip the offset always to 0,0. It makes more sense for it to clip the
|
||||
source area and not modify the offset. From Petteri Aimonen.
|
||||
* graphics/nxtk/nxtk_getwindow.c: Clipping would change the offset of returned
|
||||
data, and caller has no way to know what the new offset would be. This messes
|
||||
up font drawing when the text is partially out of window, e.g. when scrolling.
|
||||
Also from Petteri Aimonen.
|
||||
* include/stdbool.h: Can now be disabled for C++ files if CONFIG_C99_BOOL8 is
|
||||
defined. CONFIG_C99_BOOL8 indicates (1) that the sizeof(_Bool) is one in both
|
||||
C and C++, and (2) the the C compiler is C99 and supports the _Bool intrinsic
|
||||
type. Requested by Freddie Chopin.
|
||||
* include/stdlib/lib_rand.c: Various additional changes so that the integer
|
||||
value zero can be returned. Requested by Freddie Chopin.
|
||||
* arch/z80/src/Makefile.sdcc*, z80/up_mem.h: Redesign Z80 build so that it
|
||||
no longer depends on Bash scripts.
|
||||
* configs/z80sim/nsh and pashello: Converted to (1) use the kconfig-frontends
|
||||
configuration tool, and (2) to build natively under Windows. The NSH
|
||||
configuration is verified; the pashello configuration needs a more TLC.
|
||||
* tools/copydir.sh: Rename tools/winlink.sh to tools/copydir.sh
|
||||
* tools/link.bat, unlink.bat, and copydir.bat: Add Windows counterparts
|
||||
to the link.sh, unlink.sh, and copydir.sh Bash scripts.
|
||||
* configs/z80sim/pashello: Now builds correctly.
|
||||
* configs/xtrs/ostest, nsh, and pashello: Converted to (1) use the kconfig-
|
||||
frontends configuration tool, and (2) to build natively under Windows.
|
||||
* drivers/serial/Kconfig and sched/Kconfig: Two names for same configuration:
|
||||
CONFIG_LOWLEVEL_CONSOLE is bogus and CONFIG_DEV_LOWCONSOLE is in the wrong
|
||||
Kconfig file. Moved to drivers/serial/Kconfig replacing CONFIG_LOWLEVEL_CONSOLE.
|
||||
* arch/z80/include/z180: Add header files for z180 chips. Initial versions
|
||||
are just clones of z80 header files.
|
||||
* arch/z80/src/z180: Add source files for z180 chips. Initial versions
|
||||
are just clones of z80 source files.
|
||||
* include/nuttx/arch.h: Add address environment control interfaces (for use
|
||||
with CPUs the provide MCUs and support process-like address environments).
|
||||
* arch/z80/src/z180/z180_mmu.*: Add MMU support for z180 tasks.
|
||||
* configs/p112: Add very basic board support and an examples/ostest
|
||||
configuration for the venerable P112 board.
|
||||
* sched/os_bringup.c: If CONFIG_PATH_INITIAL is defined, then the initial
|
||||
environment of the task started by os_bringup() will have the PATH
|
||||
environment variable defined to be that string.
|
||||
* binfmt/binfmt_exepath.c: If CONFIG_BINFMT_EXEPATH is defined, then this
|
||||
file will be built. It contains logic to search for regular files at
|
||||
the absolutes paths found in the current PATH environment variable
|
||||
setting. This is untested and not yet hooked into the binfmt exec()
|
||||
logic on initial check-in
|
||||
* binfmt/binfmt_loadmodule.c: load_module() will now traverse the PATH
|
||||
variable to locate files from their relative path.
|
||||
* include/nuttx/arch.h and arch/z80/src/z180/z180_mmu.c: Restructure the
|
||||
address environment interfaces so that they will better integrate with
|
||||
binfmt/.
|
||||
* binfmt/libelf/*, binfmt/libnxflat/* and other files: Integrate the
|
||||
address environment interfaces. If CONFIG_ADDRENV=y, then binfmt/
|
||||
will now create an address environment for new tasks (instead of
|
||||
just malloc'ing the task memory).
|
||||
* configs/stm32f4discovery/elf: Enable support/test of the PATH
|
||||
to find executables using a relative path.
|
||||
|
||||
6.25 2013-xx-xx Gregory Nutt <gnutt@nuttx.org>
|
||||
|
|
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Reference in New Issue