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px4-firmware
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Merge branch 'export-build' of https://github.com/PX4/Firmware into fmuv2_bringup

This commit is contained in:
px4dev 2013-04-26 19:25:31 -07:00
parent 4fe9e1c447 53f6bac327
commit a7fc1b74bf
27 changed files with 109 additions and 2120 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
Makefile
View File

@ -43,7 +43,6 @@ include $(PX4_BASE)makefiles/setup.mk
# Canned firmware configurations that we build.
#
CONFIGS ?= $(subst config_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)config_*.mk))))
#CONFIGS ?= px4fmu_default px4io_default
#
# Boards that we build NuttX export kits for.

65
ROMFS/px4fmu_common/init.d/rc.PX4IO
View File

@ -5,7 +5,7 @@ set USB no
set MODE camflyer
#
# Start the ORB
# Start the ORB (first app to start)
#
uorb start
@ -27,38 +27,65 @@ fi
param set MAV_TYPE 1
#
# Start the sensors.
# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
#
sh /etc/init.d/rc.sensors
if [ -f /fs/microsd/px4io.bin ]
then
echo "PX4IO Firmware found. Checking Upgrade.."
if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
then
echo "No newer version, skipping upgrade."
else
echo "Loading /fs/microsd/px4io.bin"
if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log
then
cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log
else
echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log
echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode"
fi
fi
fi
#
# Start MAVLink
# Start MAVLink (depends on orb)
#
mavlink start -d /dev/ttyS1 -b 57600
usleep 5000
#
# Start the commander.
# Start the commander (depends on orb, mavlink)
#
commander start
#
# Start GPS interface
#
gps start
#
# Start the attitude estimator
#
kalman_demo start
#
# Start PX4IO interface
# Start PX4IO interface (depends on orb, commander)
#
px4io start
#
# Load mixer and start controllers
# Allow PX4IO to recover from midair restarts.
# this is very unlikely, but quite safe and robust.
px4io recovery
#
# Start the sensors (depends on orb, px4io)
#
sh /etc/init.d/rc.sensors
#
# Start GPS interface (depends on orb)
#
gps start
#
# Start the attitude estimator (depends on orb)
#
kalman_demo start
#
# Load mixer and start controllers (depends on px4io)
#
mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
control_demo start
@ -66,8 +93,8 @@ control_demo start
#
# Start logging
#
sdlog start -s 10
#sdlog start -s 4
#
# Start system state
#

29
ROMFS/px4fmu_common/init.d/rc.PX4IOAR
View File

@ -2,10 +2,10 @@
#
# Flight startup script for PX4FMU on PX4IOAR carrier board.
#
# Disable the USB interface
set USB no
# Disable autostarting other apps
set MODE ardrone
@ -25,13 +25,18 @@ if [ -f /fs/microsd/parameters ]
then
param load /fs/microsd/parameters
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
#
param set MAV_TYPE 2
#
# Configure PX4FMU for operation with PX4IOAR
#
fmu mode_gpio_serial
#
# Start the sensors.
@ -54,11 +59,6 @@ commander start
#
attitude_estimator_ekf start
#
# Configure PX4FMU for operation with PX4IOAR
#
fmu mode_gpio_serial
#
# Fire up the multi rotor attitude controller
#
@ -68,17 +68,17 @@ multirotor_att_control start
# Fire up the AR.Drone interface.
#
ardrone_interface start -d /dev/ttyS1
#
# Start GPS capture
#
gps start
#
# Start logging
#
sdlog start -s 10
#
# Start GPS capture
#
gps start
#
# Start system state
#
@ -95,4 +95,5 @@ fi
# use the same UART for telemetry
#
echo "[init] startup done"
exit
exit

0
ROMFS/scripts/rc.hil → ROMFS/px4fmu_common/init.d/rc.hil
View File

0
ROMFS/scripts/rc.usb → ROMFS/px4fmu_common/init.d/rc.usb
View File

8
ROMFS/px4fmu_common/init.d/rcS
View File

@ -21,9 +21,9 @@ set MODE autostart
set USB autoconnect
#
# Start playing the startup tune
#
tone_alarm start
#
# Try to mount the microSD card.
@ -32,8 +32,12 @@ echo "[init] looking for microSD..."
if mount -t vfat /dev/mmcsd0 /fs/microsd
then
echo "[init] card mounted at /fs/microsd"
# Start playing the startup tune
tone_alarm start
else
echo "[init] no microSD card found"
# Play SOS
tone_alarm 2
fi
#

7
ROMFS/px4fmu_common/mixers/FMU_quad_v.mix Normal file
View File

@ -0,0 +1,7 @@
Multirotor mixer for PX4FMU
===========================
This file defines a single mixer for a quadrotor in the V configuration. All controls
are mixed 100%.
R: 4v 10000 10000 10000 0

107
ROMFS/scripts/rc.PX4IO
View File

@ -1,107 +0,0 @@
#!nsh
# Disable USB and autostart
set USB no
set MODE camflyer
#
# Start the ORB (first app to start)
#
uorb start
#
# Load microSD params
#
echo "[init] loading microSD params"
param select /fs/microsd/parameters
if [ -f /fs/microsd/parameters ]
then
param load /fs/microsd/parameters
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
#
param set MAV_TYPE 1
#
# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell)
#
if [ -f /fs/microsd/px4io.bin ]
then
echo "PX4IO Firmware found. Checking Upgrade.."
if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
then
echo "No newer version, skipping upgrade."
else
echo "Loading /fs/microsd/px4io.bin"
if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log
then
cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current
echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log
else
echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log
echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode"
fi
fi
fi
#
# Start MAVLink (depends on orb)
#
mavlink start -d /dev/ttyS1 -b 57600
usleep 5000
#
# Start the commander (depends on orb, mavlink)
#
commander start
#
# Start PX4IO interface (depends on orb, commander)
#
px4io start
#
# Allow PX4IO to recover from midair restarts.
# this is very unlikely, but quite safe and robust.
px4io recovery
#
# Start the sensors (depends on orb, px4io)
#
sh /etc/init.d/rc.sensors
#
# Start GPS interface (depends on orb)
#
gps start
#
# Start the attitude estimator (depends on orb)
#
kalman_demo start
#
# Load mixer and start controllers (depends on px4io)
#
mixer load /dev/pwm_output /etc/mixers/FMU_Q.mix
control_demo start
#
# Start logging
#
#sdlog start -s 4
#
# Start system state
#
if blinkm start
then
echo "using BlinkM for state indication"
blinkm systemstate
else
echo "no BlinkM found, OK."
fi

99
ROMFS/scripts/rc.PX4IOAR
View File

@ -1,99 +0,0 @@
#!nsh
#
# Flight startup script for PX4FMU on PX4IOAR carrier board.
#
# Disable the USB interface
set USB no
# Disable autostarting other apps
set MODE ardrone
echo "[init] doing PX4IOAR startup..."
#
# Start the ORB
#
uorb start
#
# Init the parameter storage
#
echo "[init] loading microSD params"
param select /fs/microsd/parameters
if [ -f /fs/microsd/parameters ]
then
param load /fs/microsd/parameters
fi
#
# Force some key parameters to sane values
# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor
# see https://pixhawk.ethz.ch/mavlink/
#
param set MAV_TYPE 2
#
# Configure PX4FMU for operation with PX4IOAR
#
fmu mode_gpio_serial
#
# Start the sensors.
#
sh /etc/init.d/rc.sensors
#
# Start MAVLink
#
mavlink start -d /dev/ttyS0 -b 57600
usleep 5000
#
# Start the commander.
#
commander start
#
# Start the attitude estimator
#
attitude_estimator_ekf start
#
# Fire up the multi rotor attitude controller
#
multirotor_att_control start
#
# Fire up the AR.Drone interface.
#
ardrone_interface start -d /dev/ttyS1
#
# Start logging
#
sdlog start -s 10
#
# Start GPS capture
#
gps start
#
# Start system state
#
if blinkm start
then
echo "using BlinkM for state indication"
blinkm systemstate
else
echo "no BlinkM found, OK."
fi
#
# startup is done; we don't want the shell because we
# use the same UART for telemetry
#
echo "[init] startup done"
exit

83
ROMFS/scripts/rcS
View File

@ -1,83 +0,0 @@
#!nsh
#
# PX4FMU startup script.
#
# This script is responsible for:
#
# - mounting the microSD card (if present)
# - running the user startup script from the microSD card (if present)
# - detecting the configuration of the system and picking a suitable
# startup script to continue with
#
# Note: DO NOT add configuration-specific commands to this script;
# add them to the per-configuration scripts instead.
#
#
# Default to auto-start mode. An init script on the microSD card
# can change this to prevent automatic startup of the flight script.
#
set MODE autostart
set USB autoconnect
#
#
#
# Try to mount the microSD card.
#
echo "[init] looking for microSD..."
if mount -t vfat /dev/mmcsd0 /fs/microsd
then
echo "[init] card mounted at /fs/microsd"
# Start playing the startup tune
tone_alarm start
else
echo "[init] no microSD card found"
# Play SOS
tone_alarm 2
fi
#
# Look for an init script on the microSD card.
#
# To prevent automatic startup in the current flight mode,
# the script should set MODE to some other value.
#
if [ -f /fs/microsd/etc/rc ]
then
echo "[init] reading /fs/microsd/etc/rc"
sh /fs/microsd/etc/rc
fi
# Also consider rc.txt files
if [ -f /fs/microsd/etc/rc.txt ]
then
echo "[init] reading /fs/microsd/etc/rc.txt"
sh /fs/microsd/etc/rc.txt
fi
#
# Check for USB host
#
if [ $USB != autoconnect ]
then
echo "[init] not connecting USB"
else
if sercon
then
echo "[init] USB interface connected"
else
echo "[init] No USB connected"
fi
fi
# if this is an APM build then there will be a rc.APM script
# from an EXTERNAL_SCRIPTS build option
if [ -f /etc/init.d/rc.APM ]
then
echo Running rc.APM
# if APM startup is successful then nsh will exit
sh /etc/init.d/rc.APM
fi

41
apps/drivers/boards/px4fmu/Makefile
View File

@ -1,41 +0,0 @@
############################################################################
#
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
#
# Board-specific startup code for the PX4FMU
#
INCLUDES = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
LIBNAME = brd_px4fmu
include $(APPDIR)/mk/app.mk

141
apps/drivers/boards/px4fmu/px4fmu_can.c
View File

@ -1,141 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file px4fmu_can.c
*
* Board-specific CAN functions.
*/
/************************************************************************************
* Included Files
************************************************************************************/
#include <nuttx/config.h>
#include <errno.h>
#include <debug.h>
#include <nuttx/can.h>
#include <arch/board/board.h>
#include "chip.h"
#include "up_arch.h"
#include "stm32.h"
#include "stm32_can.h"
#include "px4fmu_internal.h"
/************************************************************************************
* Pre-processor Definitions
************************************************************************************/
/* Configuration ********************************************************************/
#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
# warning "Both CAN1 and CAN2 are enabled. Assuming only CAN1."
# undef CONFIG_STM32_CAN2
#endif
#ifdef CONFIG_STM32_CAN1
# define CAN_PORT 1
#else
# define CAN_PORT 2
#endif
/* Debug ***************************************************************************/
/* Non-standard debug that may be enabled just for testing CAN */
#ifdef CONFIG_DEBUG_CAN
# define candbg dbg
# define canvdbg vdbg
# define canlldbg lldbg
# define canllvdbg llvdbg
#else
# define candbg(x...)
# define canvdbg(x...)
# define canlldbg(x...)
# define canllvdbg(x...)
#endif
/************************************************************************************
* Private Functions
************************************************************************************/
/************************************************************************************
* Public Functions
************************************************************************************/
/************************************************************************************
* Name: can_devinit
*
* Description:
* All STM32 architectures must provide the following interface to work with
* examples/can.
*
************************************************************************************/
int can_devinit(void)
{
static bool initialized = false;
struct can_dev_s *can;
int ret;
/* Check if we have already initialized */
if (!initialized) {
/* Call stm32_caninitialize() to get an instance of the CAN interface */
can = stm32_caninitialize(CAN_PORT);
if (can == NULL) {
candbg("ERROR: Failed to get CAN interface\n");
return -ENODEV;
}
/* Register the CAN driver at "/dev/can0" */
ret = can_register("/dev/can0", can);
if (ret < 0) {
candbg("ERROR: can_register failed: %d\n", ret);
return ret;
}
/* Now we are initialized */
initialized = true;
}
return OK;
}

232
apps/drivers/boards/px4fmu/px4fmu_init.c
View File

@ -1,232 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file px4fmu_init.c
*
* PX4FMU-specific early startup code. This file implements the
* nsh_archinitialize() function that is called early by nsh during startup.
*
* Code here is run before the rcS script is invoked; it should start required
* subsystems and perform board-specific initialisation.
*/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <stdbool.h>
#include <stdio.h>
#include <debug.h>
#include <errno.h>
#include <nuttx/arch.h>
#include <nuttx/spi.h>
#include <nuttx/i2c.h>
#include <nuttx/mmcsd.h>
#include <nuttx/analog/adc.h>
#include "stm32_internal.h"
#include "px4fmu_internal.h"
#include "stm32_uart.h"
#include <arch/board/board.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_led.h>
#include <systemlib/cpuload.h>
/****************************************************************************
* Pre-Processor Definitions
****************************************************************************/
/* Configuration ************************************************************/
/* Debug ********************************************************************/
#ifdef CONFIG_CPP_HAVE_VARARGS
# ifdef CONFIG_DEBUG
# define message(...) lowsyslog(__VA_ARGS__)
# else
# define message(...) printf(__VA_ARGS__)
# endif
#else
# ifdef CONFIG_DEBUG
# define message lowsyslog
# else
# define message printf
# endif
#endif
/****************************************************************************
* Protected Functions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
/************************************************************************************
* Name: stm32_boardinitialize
*
* Description:
* All STM32 architectures must provide the following entry point. This entry point
* is called early in the intitialization -- after all memory has been configured
* and mapped but before any devices have been initialized.
*
************************************************************************************/
__EXPORT void stm32_boardinitialize(void)
{
/* configure SPI interfaces */
stm32_spiinitialize();
/* configure LEDs */
up_ledinit();
}
/****************************************************************************
* Name: nsh_archinitialize
*
* Description:
* Perform architecture specific initialization
*
****************************************************************************/
static struct spi_dev_s *spi1;
static struct spi_dev_s *spi3;
#include <math.h>
#ifdef __cplusplus
__EXPORT int matherr(struct __exception *e)
{
return 1;
}
#else
__EXPORT int matherr(struct exception *e)
{
return 1;
}
#endif
__EXPORT int nsh_archinitialize(void)
{
int result;
/* configure the high-resolution time/callout interface */
hrt_init();
/* configure CPU load estimation */
#ifdef CONFIG_SCHED_INSTRUMENTATION
cpuload_initialize_once();
#endif
/* set up the serial DMA polling */
static struct hrt_call serial_dma_call;
struct timespec ts;
/*
* Poll at 1ms intervals for received bytes that have not triggered
* a DMA event.
*/
ts.tv_sec = 0;
ts.tv_nsec = 1000000;
hrt_call_every(&serial_dma_call,
ts_to_abstime(&ts),
ts_to_abstime(&ts),
(hrt_callout)stm32_serial_dma_poll,
NULL);
// initial LED state
drv_led_start();
up_ledoff(LED_BLUE);
up_ledoff(LED_AMBER);
up_ledon(LED_BLUE);
/* Configure SPI-based devices */
spi1 = up_spiinitialize(1);
if (!spi1) {
message("[boot] FAILED to initialize SPI port 1\r\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
// Default SPI1 to 1MHz and de-assert the known chip selects.
SPI_SETFREQUENCY(spi1, 10000000);
SPI_SETBITS(spi1, 8);
SPI_SETMODE(spi1, SPIDEV_MODE3);
SPI_SELECT(spi1, PX4_SPIDEV_GYRO, false);
SPI_SELECT(spi1, PX4_SPIDEV_ACCEL, false);
SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
up_udelay(20);
message("[boot] Successfully initialized SPI port 1\r\n");
/* Get the SPI port for the microSD slot */
message("[boot] Initializing SPI port 3\n");
spi3 = up_spiinitialize(3);
if (!spi3) {
message("[boot] FAILED to initialize SPI port 3\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
message("[boot] Successfully initialized SPI port 3\n");
/* Now bind the SPI interface to the MMCSD driver */
result = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi3);
if (result != OK) {
message("[boot] FAILED to bind SPI port 3 to the MMCSD driver\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
message("[boot] Successfully bound SPI port 3 to the MMCSD driver\n");
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
return OK;
}

161
apps/drivers/boards/px4fmu/px4fmu_internal.h
View File

@ -1,161 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file px4fmu_internal.h
*
* PX4FMU internal definitions
*/
#pragma once
/****************************************************************************************************
* Included Files
****************************************************************************************************/
#include <nuttx/config.h>
#include <nuttx/compiler.h>
#include <stdint.h>
__BEGIN_DECLS
/* these headers are not C++ safe */
#include <stm32_internal.h>
/****************************************************************************************************
* Definitions
****************************************************************************************************/
/* Configuration ************************************************************************************/
#ifdef CONFIG_STM32_SPI2
# error "SPI2 is not supported on this board"
#endif
#if defined(CONFIG_STM32_CAN1)
# warning "CAN1 is not supported on this board"
#endif
/* PX4FMU GPIOs ***********************************************************************************/
/* LEDs */
#define GPIO_LED1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN15)
#define GPIO_LED2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN14)
/* External interrupts */
#define GPIO_EXTI_COMPASS (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTB|GPIO_PIN1)
// XXX MPU6000 DRDY?
/* SPI chip selects */
#define GPIO_SPI_CS_GYRO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN14)
#define GPIO_SPI_CS_ACCEL (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
#define GPIO_SPI_CS_MPU (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
#define GPIO_SPI_CS_SDCARD (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
/* User GPIOs
*
* GPIO0-1 are the buffered high-power GPIOs.
* GPIO2-5 are the USART2 pins.
* GPIO6-7 are the CAN2 pins.
*/
#define GPIO_GPIO0_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN4)
#define GPIO_GPIO1_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN5)
#define GPIO_GPIO2_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN0)
#define GPIO_GPIO3_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN1)
#define GPIO_GPIO4_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN2)
#define GPIO_GPIO5_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN3)
#define GPIO_GPIO6_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN13)
#define GPIO_GPIO7_INPUT (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN2)
#define GPIO_GPIO0_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN4)
#define GPIO_GPIO1_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN5)
#define GPIO_GPIO2_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
#define GPIO_GPIO3_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1)
#define GPIO_GPIO4_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN2)
#define GPIO_GPIO5_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN3)
#define GPIO_GPIO6_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN13)
#define GPIO_GPIO7_OUTPUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN12)
#define GPIO_GPIO_DIR (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
/* USB OTG FS
*
* PA9 OTG_FS_VBUS VBUS sensing (also connected to the green LED)
*/
#define GPIO_OTGFS_VBUS (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
/* PWM
*
* The PX4FMU has five PWM outputs, of which only the output on
* pin PC8 is fixed assigned to this function. The other four possible
* pwm sources are the TX, RX, RTS and CTS pins of USART2
*
* Alternate function mapping:
* PC8 - BUZZER - TIM8_CH3/SDIO_D0 /TIM3_CH3/ USART6_CK / DCMI_D2
*/
#ifdef CONFIG_PWM
# if defined(CONFIG_STM32_TIM3_PWM)
# define BUZZER_PWMCHANNEL 3
# define BUZZER_PWMTIMER 3
# elif defined(CONFIG_STM32_TIM8_PWM)
# define BUZZER_PWMCHANNEL 3
# define BUZZER_PWMTIMER 8
# endif
#endif
/****************************************************************************************************
* Public Types
****************************************************************************************************/
/****************************************************************************************************
* Public data
****************************************************************************************************/
#ifndef __ASSEMBLY__
/****************************************************************************************************
* Public Functions
****************************************************************************************************/
/****************************************************************************************************
* Name: stm32_spiinitialize
*
* Description:
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
*
****************************************************************************************************/
extern void stm32_spiinitialize(void);
#endif /* __ASSEMBLY__ */
__END_DECLS

87
apps/drivers/boards/px4fmu/px4fmu_pwm_servo.c
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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/*
* @file px4fmu_pwm_servo.c
*
* Configuration data for the stm32 pwm_servo driver.
*
* Note that these arrays must always be fully-sized.
*/
#include <stdint.h>
#include <drivers/stm32/drv_pwm_servo.h>
#include <arch/board/board.h>
#include <drivers/drv_pwm_output.h>
#include <stm32_internal.h>
#include <stm32_gpio.h>
#include <stm32_tim.h>
__EXPORT const struct pwm_servo_timer pwm_timers[PWM_SERVO_MAX_TIMERS] = {
{
.base = STM32_TIM2_BASE,
.clock_register = STM32_RCC_APB1ENR,
.clock_bit = RCC_APB1ENR_TIM2EN,
.clock_freq = STM32_APB1_TIM2_CLKIN
}
};
__EXPORT const struct pwm_servo_channel pwm_channels[PWM_SERVO_MAX_CHANNELS] = {
{
.gpio = GPIO_TIM2_CH1OUT,
.timer_index = 0,
.timer_channel = 1,
.default_value = 1000,
},
{
.gpio = GPIO_TIM2_CH2OUT,
.timer_index = 0,
.timer_channel = 2,
.default_value = 1000,
},
{
.gpio = GPIO_TIM2_CH3OUT,
.timer_index = 0,
.timer_channel = 3,
.default_value = 1000,
},
{
.gpio = GPIO_TIM2_CH4OUT,
.timer_index = 0,
.timer_channel = 4,
.default_value = 1000,
}
};

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apps/drivers/boards/px4fmu/px4fmu_spi.c
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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file px4fmu_spi.c
*
* Board-specific SPI functions.
*/
/************************************************************************************
* Included Files
************************************************************************************/
#include <nuttx/config.h>
#include <stdint.h>
#include <stdbool.h>
#include <debug.h>
#include <nuttx/spi.h>
#include <arch/board/board.h>
#include "up_arch.h"
#include "chip.h"
#include "stm32_internal.h"
#include "px4fmu_internal.h"
/************************************************************************************
* Public Functions
************************************************************************************/
/************************************************************************************
* Name: stm32_spiinitialize
*
* Description:
* Called to configure SPI chip select GPIO pins for the PX4FMU board.
*
************************************************************************************/
__EXPORT void weak_function stm32_spiinitialize(void)
{
stm32_configgpio(GPIO_SPI_CS_GYRO);
stm32_configgpio(GPIO_SPI_CS_ACCEL);
stm32_configgpio(GPIO_SPI_CS_MPU);
stm32_configgpio(GPIO_SPI_CS_SDCARD);
/* De-activate all peripherals,
* required for some peripheral
* state machines
*/
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
stm32_gpiowrite(GPIO_SPI_CS_ACCEL, 1);
stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
stm32_gpiowrite(GPIO_SPI_CS_SDCARD, 1);
}
__EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
{
/* SPI select is active low, so write !selected to select the device */
switch (devid) {
case PX4_SPIDEV_GYRO:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected);
stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
stm32_gpiowrite(GPIO_SPI_CS_ACCEL, 1);
break;
case PX4_SPIDEV_ACCEL:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI_CS_ACCEL, !selected);
stm32_gpiowrite(GPIO_SPI_CS_MPU, 1);
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
break;
case PX4_SPIDEV_MPU:
/* Making sure the other peripherals are not selected */
stm32_gpiowrite(GPIO_SPI_CS_ACCEL, 1);
stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1);
stm32_gpiowrite(GPIO_SPI_CS_MPU, !selected);
break;
default:
break;
}
}
__EXPORT uint8_t stm32_spi1status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
{
return SPI_STATUS_PRESENT;
}
__EXPORT void stm32_spi3select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, bool selected)
{
/* there can only be one device on this bus, so always select it */
stm32_gpiowrite(GPIO_SPI_CS_SDCARD, !selected);
}
__EXPORT uint8_t stm32_spi3status(FAR struct spi_dev_s *dev, enum spi_dev_e devid)
{
/* this is actually bogus, but PX4 has no way to sense the presence of an SD card */
return SPI_STATUS_PRESENT;
}

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apps/drivers/boards/px4fmu/px4fmu_usb.c
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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file px4fmu_usb.c
*
* Board-specific USB functions.
*/
/************************************************************************************
* Included Files
************************************************************************************/
#include <nuttx/config.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <debug.h>
#include <nuttx/usb/usbdev.h>
#include <nuttx/usb/usbdev_trace.h>
#include "up_arch.h"
#include "stm32_internal.h"
#include "px4fmu_internal.h"
/************************************************************************************
* Definitions
************************************************************************************/
/************************************************************************************
* Private Functions
************************************************************************************/
/************************************************************************************
* Public Functions
************************************************************************************/
/************************************************************************************
* Name: stm32_usbinitialize
*
* Description:
* Called to setup USB-related GPIO pins for the PX4FMU board.
*
************************************************************************************/
__EXPORT void stm32_usbinitialize(void)
{
/* The OTG FS has an internal soft pull-up */
/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
#ifdef CONFIG_STM32_OTGFS
stm32_configgpio(GPIO_OTGFS_VBUS);
/* XXX We only support device mode
stm32_configgpio(GPIO_OTGFS_PWRON);
stm32_configgpio(GPIO_OTGFS_OVER);
*/
#endif
}
/************************************************************************************
* Name: stm32_usbsuspend
*
* Description:
* Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
* used. This function is called whenever the USB enters or leaves suspend mode.
* This is an opportunity for the board logic to shutdown clocks, power, etc.
* while the USB is suspended.
*
************************************************************************************/
__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
{
ulldbg("resume: %d\n", resume);
}

571
apps/systemcmds/eeprom/24xxxx_mtd.c
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/************************************************************************************
* Driver for 24xxxx-style I2C EEPROMs.
*
* Adapted from:
*
* drivers/mtd/at24xx.c
* Driver for I2C-based at24cxx EEPROM(at24c32,at24c64,at24c128,at24c256)
*
* Copyright (C) 2011 Li Zhuoyi. All rights reserved.
* Author: Li Zhuoyi <lzyy.cn@gmail.com>
* History: 0.1 2011-08-20 initial version
*
* 2011-11-1 Added support for larger MTD block sizes: Hal Glenn <hglenn@2g-eng.com>
*
* Derived from drivers/mtd/m25px.c
*
* Copyright (C) 2009-2011 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* 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 NuttX 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.
*
************************************************************************************/
/************************************************************************************
* Included Files
************************************************************************************/
#include <nuttx/config.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include <errno.h>
#include <debug.h>
#include <nuttx/kmalloc.h>
#include <nuttx/fs/ioctl.h>
#include <nuttx/i2c.h>
#include <nuttx/mtd.h>
#include "systemlib/perf_counter.h"
/************************************************************************************
* Pre-processor Definitions
************************************************************************************/
/*
* Configuration is as for the AT24 driver, but the CONFIG_MTD_AT24XX define should be
* omitted in order to avoid building the AT24XX driver as well.
*/
/* As a minimum, the size of the AT24 part and its 7-bit I2C address are required. */
#ifndef CONFIG_AT24XX_SIZE
# warning "Assuming AT24 size 64"
# define CONFIG_AT24XX_SIZE 64
#endif
#ifndef CONFIG_AT24XX_ADDR
# warning "Assuming AT24 address of 0x50"
# define CONFIG_AT24XX_ADDR 0x50
#endif
/* Get the part configuration based on the size configuration */
#if CONFIG_AT24XX_SIZE == 32
# define AT24XX_NPAGES 128
# define AT24XX_PAGESIZE 32
#elif CONFIG_AT24XX_SIZE == 48
# define AT24XX_NPAGES 192
# define AT24XX_PAGESIZE 32
#elif CONFIG_AT24XX_SIZE == 64
# define AT24XX_NPAGES 256
# define AT24XX_PAGESIZE 32
#elif CONFIG_AT24XX_SIZE == 128
# define AT24XX_NPAGES 256
# define AT24XX_PAGESIZE 64
#elif CONFIG_AT24XX_SIZE == 256
# define AT24XX_NPAGES 512
# define AT24XX_PAGESIZE 64
#endif
/* For applications where a file system is used on the AT24, the tiny page sizes
* will result in very inefficient FLASH usage. In such cases, it is better if
* blocks are comprised of "clusters" of pages so that the file system block
* size is, say, 256 or 512 bytes. In any event, the block size *must* be an
* even multiple of the pages.
*/
#ifndef CONFIG_AT24XX_MTD_BLOCKSIZE
# warning "Assuming driver block size is the same as the FLASH page size"
# define CONFIG_AT24XX_MTD_BLOCKSIZE AT24XX_PAGESIZE
#endif
/* The AT24 does not respond on the bus during write cycles, so we depend on a long
* timeout to detect problems. The max program time is typically ~5ms.
*/
#ifndef CONFIG_AT24XX_WRITE_TIMEOUT_MS
# define CONFIG_AT24XX_WRITE_TIMEOUT_MS 20
#endif
/************************************************************************************
* Private Types
************************************************************************************/
/* This type represents the state of the MTD device. The struct mtd_dev_s
* must appear at the beginning of the definition so that you can freely
* cast between pointers to struct mtd_dev_s and struct at24c_dev_s.
*/
struct at24c_dev_s {
struct mtd_dev_s mtd; /* MTD interface */
FAR struct i2c_dev_s *dev; /* Saved I2C interface instance */
uint8_t addr; /* I2C address */
uint16_t pagesize; /* 32, 63 */
uint16_t npages; /* 128, 256, 512, 1024 */
perf_counter_t perf_reads;
perf_counter_t perf_writes;
perf_counter_t perf_resets;
perf_counter_t perf_read_retries;
perf_counter_t perf_read_errors;
perf_counter_t perf_write_errors;
};
/************************************************************************************
* Private Function Prototypes
************************************************************************************/
/* MTD driver methods */
static int at24c_erase(FAR struct mtd_dev_s *dev, off_t startblock, size_t nblocks);
static ssize_t at24c_bread(FAR struct mtd_dev_s *dev, off_t startblock,
size_t nblocks, FAR uint8_t *buf);
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
************************************************************************************/
/* At present, only a single AT24 part is supported. In this case, a statically
* allocated state structure may be used.
*/
static struct at24c_dev_s g_at24c;
/************************************************************************************
* Private Functions
************************************************************************************/
static int at24c_eraseall(FAR struct at24c_dev_s *priv)
{
int startblock = 0;
uint8_t buf[AT24XX_PAGESIZE + 2];
struct i2c_msg_s msgv[1] = {
{
.addr = priv->addr,
.flags = 0,
.buffer = &buf[0],
.length = sizeof(buf),
}
};
memset(&buf[2], 0xff, priv->pagesize);
for (startblock = 0; startblock < priv->npages; startblock++) {
uint16_t offset = startblock * priv->pagesize;
buf[1] = offset & 0xff;
buf[0] = (offset >> 8) & 0xff;
while (I2C_TRANSFER(priv->dev, &msgv[0], 1) < 0) {
fvdbg("erase stall\n");
usleep(10000);
}
}
return OK;
}
/************************************************************************************
* Name: at24c_erase
************************************************************************************/
static int at24c_erase(FAR struct mtd_dev_s *dev, off_t startblock, size_t nblocks)
{
/* EEprom need not erase */
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
************************************************************************************/
static ssize_t at24c_bread(FAR struct mtd_dev_s *dev, off_t startblock,
size_t nblocks, FAR uint8_t *buffer)
{
FAR struct at24c_dev_s *priv = (FAR struct at24c_dev_s *)dev;
size_t blocksleft;
uint8_t addr[2];
int ret;
struct i2c_msg_s msgv[2] = {
{
.addr = priv->addr,
.flags = 0,
.buffer = &addr[0],
.length = sizeof(addr),
},
{
.addr = priv->addr,
.flags = I2C_M_READ,
.buffer = 0,
.length = priv->pagesize,
}
};
#if CONFIG_AT24XX_MTD_BLOCKSIZE > AT24XX_PAGESIZE
startblock *= (CONFIG_AT24XX_MTD_BLOCKSIZE / AT24XX_PAGESIZE);
nblocks *= (CONFIG_AT24XX_MTD_BLOCKSIZE / AT24XX_PAGESIZE);
#endif
blocksleft = nblocks;
fvdbg("startblock: %08lx nblocks: %d\n", (long)startblock, (int)nblocks);
if (startblock >= priv->npages) {
return 0;
}
if (startblock + nblocks > priv->npages) {
nblocks = priv->npages - startblock;
}
while (blocksleft-- > 0) {
uint16_t offset = startblock * priv->pagesize;
unsigned tries = CONFIG_AT24XX_WRITE_TIMEOUT_MS;
addr[1] = offset & 0xff;
addr[0] = (offset >> 8) & 0xff;
msgv[1].buffer = buffer;
for (;;) {
perf_begin(priv->perf_reads);
ret = I2C_TRANSFER(priv->dev, &msgv[0], 2);
perf_end(priv->perf_reads);
if (ret >= 0)
break;
fvdbg("read stall");
usleep(1000);
/* We should normally only be here on the first read after
* a write.
*
* XXX maybe do special first-read handling with optional
* bus reset as well?
*/
perf_count(priv->perf_read_retries);
if (--tries == 0) {
perf_count(priv->perf_read_errors);
return ERROR;
}
}
startblock++;
buffer += priv->pagesize;
}
#if CONFIG_AT24XX_MTD_BLOCKSIZE > AT24XX_PAGESIZE
return nblocks / (CONFIG_AT24XX_MTD_BLOCKSIZE / AT24XX_PAGESIZE);
#else
return nblocks;
#endif
}
/************************************************************************************
* Name: at24c_bwrite
*
* Operates on MTD block's and translates to FLASH pages
*
************************************************************************************/
static ssize_t at24c_bwrite(FAR struct mtd_dev_s *dev, off_t startblock, size_t nblocks,
FAR const uint8_t *buffer)
{
FAR struct at24c_dev_s *priv = (FAR struct at24c_dev_s *)dev;
size_t blocksleft;
uint8_t buf[AT24XX_PAGESIZE + 2];
int ret;
struct i2c_msg_s msgv[1] = {
{
.addr = priv->addr,
.flags = 0,
.buffer = &buf[0],
.length = sizeof(buf),
}
};
#if CONFIG_AT24XX_MTD_BLOCKSIZE > AT24XX_PAGESIZE
startblock *= (CONFIG_AT24XX_MTD_BLOCKSIZE / AT24XX_PAGESIZE);
nblocks *= (CONFIG_AT24XX_MTD_BLOCKSIZE / AT24XX_PAGESIZE);
#endif
blocksleft = nblocks;
if (startblock >= priv->npages) {
return 0;
}
if (startblock + nblocks > priv->npages) {
nblocks = priv->npages - startblock;
}
fvdbg("startblock: %08lx nblocks: %d\n", (long)startblock, (int)nblocks);
while (blocksleft-- > 0) {
uint16_t offset = startblock * priv->pagesize;
unsigned tries = CONFIG_AT24XX_WRITE_TIMEOUT_MS;
buf[1] = offset & 0xff;
buf[0] = (offset >> 8) & 0xff;
memcpy(&buf[2], buffer, priv->pagesize);
for (;;) {
perf_begin(priv->perf_writes);
ret = I2C_TRANSFER(priv->dev, &msgv[0], 1);
perf_end(priv->perf_writes);
if (ret >= 0)
break;
fvdbg("write stall");
usleep(1000);
/* We expect to see a number of retries per write cycle as we
* poll for write completion.
*/
if (--tries == 0) {
perf_count(priv->perf_write_errors);
return ERROR;
}
}
startblock++;
buffer += priv->pagesize;
}
#if CONFIG_AT24XX_MTD_BLOCKSIZE > AT24XX_PAGESIZE
return nblocks / (CONFIG_AT24XX_MTD_BLOCKSIZE / AT24XX_PAGESIZE);
#else
return nblocks;
#endif
}
/************************************************************************************
* Name: at24c_ioctl
************************************************************************************/
static int at24c_ioctl(FAR struct mtd_dev_s *dev, int cmd, unsigned long arg)
{
FAR struct at24c_dev_s *priv = (FAR struct at24c_dev_s *)dev;
int ret = -EINVAL; /* Assume good command with bad parameters */
fvdbg("cmd: %d \n", cmd);
switch (cmd) {
case MTDIOC_GEOMETRY: {
FAR struct mtd_geometry_s *geo = (FAR struct mtd_geometry_s *)((uintptr_t)arg);
if (geo) {
/* Populate the geometry structure with information need to know
* the capacity and how to access the device.
*
* NOTE: that the device is treated as though it where just an array
* of fixed size blocks. That is most likely not true, but the client
* will expect the device logic to do whatever is necessary to make it
* appear so.
*
* blocksize:
* May be user defined. The block size for the at24XX devices may be
* larger than the page size in order to better support file systems.
* The read and write functions translate BLOCKS to pages for the
* small flash devices
* erasesize:
* It has to be at least as big as the blocksize, bigger serves no
* purpose.
* neraseblocks
* Note that the device size is in kilobits and must be scaled by
* 1024 / 8
*/
#if CONFIG_AT24XX_MTD_BLOCKSIZE > AT24XX_PAGESIZE
geo->blocksize = CONFIG_AT24XX_MTD_BLOCKSIZE;
geo->erasesize = CONFIG_AT24XX_MTD_BLOCKSIZE;
geo->neraseblocks = (CONFIG_AT24XX_SIZE * 1024 / 8) / CONFIG_AT24XX_MTD_BLOCKSIZE;
#else
geo->blocksize = priv->pagesize;
geo->erasesize = priv->pagesize;
geo->neraseblocks = priv->npages;
#endif
ret = OK;
fvdbg("blocksize: %d erasesize: %d neraseblocks: %d\n",
geo->blocksize, geo->erasesize, geo->neraseblocks);
}
}
break;
case MTDIOC_BULKERASE:
ret = at24c_eraseall(priv);
break;
case MTDIOC_XIPBASE:
default:
ret = -ENOTTY; /* Bad command */
break;
}
return ret;
}
/************************************************************************************
* Public Functions
************************************************************************************/
/************************************************************************************
* Name: at24c_initialize
*
* Description:
* Create an initialize MTD device instance. MTD devices are not registered
* in the file system, but are created as instances that can be bound to
* other functions (such as a block or character driver front end).
*
************************************************************************************/
FAR struct mtd_dev_s *at24c_initialize(FAR struct i2c_dev_s *dev) {
FAR struct at24c_dev_s *priv;
fvdbg("dev: %p\n", dev);
/* Allocate a state structure (we allocate the structure instead of using
* a fixed, static allocation so that we can handle multiple FLASH devices.
* The current implementation would handle only one FLASH part per I2C
* device (only because of the SPIDEV_FLASH definition) and so would have
* to be extended to handle multiple FLASH parts on the same I2C bus.
*/
priv = &g_at24c;
if (priv) {
/* Initialize the allocated structure */
priv->addr = CONFIG_AT24XX_ADDR;
priv->pagesize = AT24XX_PAGESIZE;
priv->npages = AT24XX_NPAGES;
priv->mtd.erase = at24c_erase;
priv->mtd.bread = at24c_bread;
priv->mtd.bwrite = at24c_bwrite;
priv->mtd.ioctl = at24c_ioctl;
priv->dev = dev;
priv->perf_reads = perf_alloc(PC_ELAPSED, "EEPROM read");
priv->perf_writes = perf_alloc(PC_ELAPSED, "EEPROM write");
priv->perf_resets = perf_alloc(PC_COUNT, "EEPROM reset");
priv->perf_read_retries = perf_alloc(PC_COUNT, "EEPROM read retries");
priv->perf_read_errors = perf_alloc(PC_COUNT, "EEPROM read errors");
priv->perf_write_errors = perf_alloc(PC_COUNT, "EEPROM write errors");
}
/* attempt to read to validate device is present */
unsigned char buf[5];
uint8_t addrbuf[2] = {0, 0};
struct i2c_msg_s msgv[2] = {
{
.addr = priv->addr,
.flags = 0,
.buffer = &addrbuf[0],
.length = sizeof(addrbuf),
},
{
.addr = priv->addr,
.flags = I2C_M_READ,
.buffer = &buf[0],
.length = sizeof(buf),
}
};
perf_begin(priv->perf_reads);
int ret = I2C_TRANSFER(priv->dev, &msgv[0], 2);
perf_end(priv->perf_reads);
if (ret < 0) {
return NULL;
}
/* Return the implementation-specific state structure as the MTD device */
fvdbg("Return %p\n", priv);
return (FAR struct mtd_dev_s *)priv;
}
/*
* XXX: debug hackery
*/
int at24c_nuke(void)
{
return at24c_eraseall(&g_at24c);
}

45
apps/systemcmds/eeprom/Makefile
View File

@ -1,45 +0,0 @@
############################################################################
#
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
#
# Build the eeprom tool.
#
APPNAME = eeprom
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 4096
MAXOPTIMIZATION = -Os
include $(APPDIR)/mk/app.mk
MAXOPTIMIZATION = -Os

265
apps/systemcmds/eeprom/eeprom.c
View File

@ -1,265 +0,0 @@
/****************************************************************************
*
* Copyright (C) 2012 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 eeprom.c
*
* EEPROM service and utility app.
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdbool.h>
#include <unistd.h>
#include <fcntl.h>
#include <sys/mount.h>
#include <sys/ioctl.h>
#include <sys/stat.h>
#include <nuttx/i2c.h>
#include <nuttx/mtd.h>
#include <nuttx/fs/nxffs.h>
#include <nuttx/fs/ioctl.h>
#include <arch/board/board.h>
#include "systemlib/systemlib.h"
#include "systemlib/param/param.h"
#include "systemlib/err.h"
#ifndef PX4_I2C_BUS_ONBOARD
# error PX4_I2C_BUS_ONBOARD not defined, cannot locate onboard EEPROM
#endif
__EXPORT int eeprom_main(int argc, char *argv[]);
static void eeprom_attach(void);
static void eeprom_start(void);
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;
static struct mtd_dev_s *eeprom_mtd;
int eeprom_main(int argc, char *argv[])
{
if (argc >= 2) {
if (!strcmp(argv[1], "start"))
eeprom_start();
if (!strcmp(argv[1], "save_param"))
eeprom_save(argv[2]);
if (!strcmp(argv[1], "load_param"))
eeprom_load(argv[2]);
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"))
eeprom_ioctl(FIOC_REFORMAT);
if (!strcmp(argv[1], "repack"))
eeprom_ioctl(FIOC_OPTIMIZE);
}
}
errx(1, "expected a command, try 'start'\n\t'save_param /eeprom/parameters'\n\t'load_param /eeprom/parameters'\n\t'erase'\n");
}
static void
eeprom_attach(void)
{
/* find the right I2C */
struct i2c_dev_s *i2c = up_i2cinitialize(PX4_I2C_BUS_ONBOARD);
/* this resets the I2C bus, set correct bus speed again */
I2C_SETFREQUENCY(i2c, 400000);
if (i2c == NULL)
errx(1, "failed to locate I2C bus");
/* start the MTD driver, attempt 5 times */
for (int i = 0; i < 5; i++) {
eeprom_mtd = at24c_initialize(i2c);
if (eeprom_mtd) {
/* abort on first valid result */
if (i > 0) {
warnx("warning: EEPROM needed %d attempts to attach", i+1);
}
break;
}
}
/* if last attempt is still unsuccessful, abort */
if (eeprom_mtd == NULL)
errx(1, "failed to initialize EEPROM driver");
attached = true;
}
static void
eeprom_start(void)
{
int ret;
if (started)
errx(1, "EEPROM already mounted");
if (!attached)
eeprom_attach();
/* start NXFFS */
ret = nxffs_initialize(eeprom_mtd);
if (ret < 0)
errx(1, "failed to initialize NXFFS - erase EEPROM to reformat");
/* mount the EEPROM */
ret = mount(NULL, "/eeprom", "nxffs", 0, NULL);
if (ret < 0)
errx(1, "failed to mount /eeprom - erase EEPROM to reformat");
started = true;
warnx("mounted EEPROM at /eeprom");
exit(0);
}
extern int at24c_nuke(void);
static void
eeprom_erase(void)
{
if (!attached)
eeprom_attach();
if (at24c_nuke())
errx(1, "erase failed");
errx(0, "erase done, reboot now");
}
static void
eeprom_ioctl(unsigned operation)
{
int fd;
fd = open("/eeprom/.", 0);
if (fd < 0)
err(1, "open /eeprom");
if (ioctl(fd, operation, 0) < 0)
err(1, "ioctl");
exit(0);
}
static void
eeprom_save(const char *name)
{
if (!started)
errx(1, "must be started first");
if (!name)
err(1, "missing argument for device name, try '/eeprom/parameters'");
warnx("WARNING: 'eeprom save_param' deprecated - use 'param save' instead");
/* delete the file in case it exists */
unlink(name);
/* create the file */
int fd = open(name, O_WRONLY | O_CREAT | O_EXCL);
if (fd < 0)
err(1, "opening '%s' failed", name);
int result = param_export(fd, false);
close(fd);
if (result < 0) {
unlink(name);
errx(1, "error exporting to '%s'", name);
}
exit(0);
}
static void
eeprom_load(const char *name)
{
if (!started)
errx(1, "must be started first");
if (!name)
err(1, "missing argument for device name, try '/eeprom/parameters'");
warnx("WARNING: 'eeprom load_param' deprecated - use 'param load' instead");
int fd = open(name, O_RDONLY);
if (fd < 0)
err(1, "open '%s'", name);
int result = param_load(fd);
close(fd);
if (result < 0)
errx(1, "error importing from '%s'", name);
exit(0);
}
extern void at24c_test(void);
static void
eeprom_test(void)
{
at24c_test();
exit(0);
}

1
apps/systemlib/mixer/mixer.h
View File

@ -418,6 +418,7 @@ public:
enum Geometry {
QUAD_X = 0, /**< quad in X configuration */
QUAD_PLUS, /**< quad in + configuration */
QUAD_V, /**< quad in V configuration */
HEX_X, /**< hex in X configuration */
HEX_PLUS, /**< hex in + configuration */
OCTA_X,

11
apps/systemlib/mixer/mixer_multirotor.cpp
View File

@ -82,6 +82,12 @@ const MultirotorMixer::Rotor _config_quad_plus[] = {
{ 0.000000, 1.000000, -1.00 },
{ -0.000000, -1.000000, -1.00 },
};
const MultirotorMixer::Rotor _config_quad_v[] = {
{ -0.927184, 0.374607, 1.00 },
{ 0.694658, -0.719340, 1.00 },
{ 0.927184, 0.374607, -1.00 },
{ -0.694658, -0.719340, -1.00 },
};
const MultirotorMixer::Rotor _config_hex_x[] = {
{ -1.000000, 0.000000, -1.00 },
{ 1.000000, 0.000000, 1.00 },
@ -121,6 +127,7 @@ const MultirotorMixer::Rotor _config_octa_plus[] = {
const MultirotorMixer::Rotor *_config_index[MultirotorMixer::Geometry::MAX_GEOMETRY] = {
&_config_quad_x[0],
&_config_quad_plus[0],
&_config_quad_v[0],
&_config_hex_x[0],
&_config_hex_plus[0],
&_config_octa_x[0],
@ -129,6 +136,7 @@ const MultirotorMixer::Rotor *_config_index[MultirotorMixer::Geometry::MAX_GEOME
const unsigned _config_rotor_count[MultirotorMixer::Geometry::MAX_GEOMETRY] = {
4, /* quad_x */
4, /* quad_plus */
4, /* quad_v */
6, /* hex_x */
6, /* hex_plus */
8, /* octa_x */
@ -184,6 +192,9 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
} else if (!strcmp(geomname, "4x")) {
geometry = MultirotorMixer::QUAD_X;
} else if (!strcmp(geomname, "4v")) {
geometry = MultirotorMixer::QUAD_V;
} else if (!strcmp(geomname, "6+")) {
geometry = MultirotorMixer::HEX_PLUS;

9
apps/systemlib/mixer/multi_tables
View File

@ -20,6 +20,13 @@ set quad_plus {
180 CW
}
set quad_v {
68 CCW
-136 CCW
-68 CW
136 CW
}
set hex_x {
90 CW
-90 CCW
@ -60,7 +67,7 @@ set octa_plus {
90 CW
}
set tables {quad_x quad_plus hex_x hex_plus octa_x octa_plus}
set tables {quad_x quad_plus quad_v hex_x hex_plus octa_x octa_plus}
proc factors {a d} { puts [format "\t{ %9.6f, %9.6f, %5.2f }," [rcos [expr $a + 90]] [rcos $a] [expr -$d]]}

2
src/drivers/boards/px4fmu/px4fmu_can.c
View File

@ -141,4 +141,4 @@ int can_devinit(void)
return OK;
}
#endif
#endif

0
apps/drivers/boards/px4fmu/px4fmu_led.c → src/drivers/boards/px4fmu/px4fmu_led.c
View File

18
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.c → src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
View File

@ -46,6 +46,7 @@
#include <stdbool.h>
#include <poll.h>
#include <fcntl.h>
#include <v1.0/common/mavlink.h>
#include <float.h>
#include <nuttx/sched.h>
#include <sys/prctl.h>
@ -65,11 +66,17 @@
#include <systemlib/perf_counter.h>
#include <systemlib/err.h>
#ifdef __cplusplus
extern "C" {
#endif
#include "codegen/attitudeKalmanfilter_initialize.h"
#include "codegen/attitudeKalmanfilter.h"
#include "attitude_estimator_ekf_params.h"
#ifdef __cplusplus
}
#endif
__EXPORT int attitude_estimator_ekf_main(int argc, char *argv[]);
extern "C" __EXPORT int attitude_estimator_ekf_main(int argc, char *argv[]);
static bool thread_should_exit = false; /**< Deamon exit flag */
static bool thread_running = false; /**< Deamon status flag */
@ -264,10 +271,11 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
/* Main loop*/
while (!thread_should_exit) {
struct pollfd fds[2] = {
{ .fd = sub_raw, .events = POLLIN },
{ .fd = sub_params, .events = POLLIN }
};
struct pollfd fds[2];
fds[0].fd = sub_raw;
fds[0].events = POLLIN;
fds[1].fd = sub_params;
fds[1].events = POLLIN;
int ret = poll(fds, 2, 1000);
if (ret < 0) {

2
src/modules/attitude_estimator_ekf/module.mk
View File

@ -1,6 +1,6 @@
MODULE_NAME = attitude_estimator_ekf
SRCS = attitude_estimator_ekf_main.c \
SRCS = attitude_estimator_ekf_main.cpp \
attitude_estimator_ekf_params.c \
codegen/attitudeKalmanfilter_initialize.c \
codegen/attitudeKalmanfilter_terminate.c \