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Checkpoint - moving things out of the NuttX configs/*/src directories

This commit is contained in:
px4dev 2012-10-23 18:02:36 -07:00
parent 1b3ab2f18d
commit c3fe915b44
52 changed files with 1144 additions and 69 deletions
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2
apps/ardrone_interface/ardrone_interface.c
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@ -51,7 +51,7 @@
#include <time.h>
#include <systemlib/err.h>
#include <sys/prctl.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_controls.h>

2
apps/ardrone_interface/ardrone_motor_control.c
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@ -42,7 +42,7 @@
#include <fcntl.h>
#include <unistd.h>
#include <drivers/drv_gpio.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include <uORB/uORB.h>
#include <uORB/topics/actuator_outputs.h>
#include <systemlib/err.h>

2
apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
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@ -59,7 +59,7 @@
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/parameter_update.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include <systemlib/systemlib.h>

4
apps/commander/commander.c
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@ -62,8 +62,8 @@
#include <v1.0/common/mavlink.h>
#include <string.h>
#include <arch/board/drv_led.h>
#include <arch/board/up_hrt.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_tone_alarm.h>
#include "state_machine_helper.h"
#include "systemlib/systemlib.h"

2
apps/commander/state_machine_helper.c
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@ -45,7 +45,7 @@
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_controls.h>
#include <systemlib/systemlib.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include <mavlink/mavlink_log.h>
#include "state_machine_helper.h"

2
apps/drivers/bma180/bma180.cpp
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@ -58,7 +58,7 @@
#include <nuttx/wqueue.h>
#include <nuttx/clock.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include <arch/board/board.h>
#include <drivers/device/spi.h>

40
apps/drivers/boards/px4fmu/Makefile Normal file
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@ -0,0 +1,40 @@
############################################################################
#
# 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
include $(APPDIR)/mk/app.mk

16
nuttx/configs/px4fmu/src/up_hrt.c → apps/drivers/boards/px4fmu/drv_hrt.c
View File

@ -32,7 +32,9 @@
****************************************************************************/
/**
* @file High-resolution timer callouts and timekeeping.
* @file drv_hrt.c
*
* High-resolution timer callouts and timekeeping.
*
* This can use any general or advanced STM32 timer.
*
@ -58,7 +60,7 @@
#include <string.h>
#include <arch/board/board.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include "chip.h"
#include "up_internal.h"
@ -320,16 +322,16 @@ static void hrt_call_invoke(void);
/* decoded PPM buffer */
#define PPM_MAX_CHANNELS 12
uint16_t ppm_buffer[PPM_MAX_CHANNELS];
unsigned ppm_decoded_channels;
uint64_t ppm_last_valid_decode = 0;
__EXPORT uint16_t ppm_buffer[PPM_MAX_CHANNELS];
__EXPORT unsigned ppm_decoded_channels;
__EXPORT uint64_t ppm_last_valid_decode = 0;
/* PPM edge history */
uint16_t ppm_edge_history[32];
__EXPORT uint16_t ppm_edge_history[32];
unsigned ppm_edge_next;
/* PPM pulse history */
uint16_t ppm_pulse_history[32];
__EXPORT uint16_t ppm_pulse_history[32];
unsigned ppm_pulse_next;
static uint16_t ppm_temp_buffer[PPM_MAX_CHANNELS];

290
apps/drivers/boards/px4fmu/px4fmu_init.c Normal file
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@ -0,0 +1,290 @@
/****************************************************************************
*
* 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 <nuttx/arch.h>
#include "stm32_internal.h"
#include "px4fmu_internal.h"
#include "stm32_uart.h"
#include <arch/board/up_cpuload.h>
#include <arch/board/up_adc.h>
#include <arch/board/board.h>
#include <arch/board/drv_led.h>
#include <arch/board/drv_eeprom.h>
#include <drivers/drv_hrt.h>
/****************************************************************************
* Pre-Processor Definitions
****************************************************************************/
/* Configuration ************************************************************/
/* Debug ********************************************************************/
#ifdef CONFIG_CPP_HAVE_VARARGS
# ifdef CONFIG_DEBUG
# define message(...) lib_lowprintf(__VA_ARGS__)
# else
# define message(...) printf(__VA_ARGS__)
# endif
#else
# ifdef CONFIG_DEBUG
# define message lib_lowprintf
# else
# define message printf
# endif
#endif
/****************************************************************************
* Protected Functions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
__EXPORT int nsh_archinitialize(void);
/****************************************************************************
* Name: nsh_archinitialize
*
* Description:
* Perform architecture specific initialization
*
****************************************************************************/
static struct spi_dev_s *spi1;
static struct spi_dev_s *spi3;
static struct i2c_dev_s *i2c1;
static struct i2c_dev_s *i2c2;
static struct i2c_dev_s *i2c3;
#include <math.h>
#ifdef __cplusplus
int matherr(struct __exception *e) {
return 1;
}
#else
int matherr(struct exception *e) {
return 1;
}
#endif
int nsh_archinitialize(void)
{
int result;
/* INIT 1 Lowest level NuttX initialization has been done at this point, LEDs and UARTs are configured */
/* INIT 2 Configuring PX4 low-level peripherals, these will be always needed */
/* configure the high-resolution time/callout interface */
#ifdef CONFIG_HRT_TIMER
hrt_init();
#endif
/* configure CPU load estimation */
#ifdef CONFIG_SCHED_INSTRUMENTATION
cpuload_initialize_once();
#endif
/* set up the serial DMA polling */
#ifdef SERIAL_HAVE_DMA
{
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);
}
#endif
message("\r\n");
up_ledoff(LED_BLUE);
up_ledoff(LED_AMBER);
up_ledon(LED_BLUE);
/* Configure user-space led driver */
px4fmu_led_init();
/* 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");
/* initialize I2C2 bus */
i2c2 = up_i2cinitialize(2);
if (!i2c2) {
message("[boot] FAILED to initialize I2C bus 2\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
/* set I2C2 speed */
I2C_SETFREQUENCY(i2c2, 400000);
i2c3 = up_i2cinitialize(3);
if (!i2c3) {
message("[boot] FAILED to initialize I2C bus 3\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
/* set I2C3 speed */
I2C_SETFREQUENCY(i2c3, 400000);
/* try to attach, don't fail if device is not responding */
(void)eeprom_attach(i2c3, FMU_BASEBOARD_EEPROM_ADDRESS,
FMU_BASEBOARD_EEPROM_TOTAL_SIZE_BYTES,
FMU_BASEBOARD_EEPROM_PAGE_SIZE_BYTES,
FMU_BASEBOARD_EEPROM_PAGE_WRITE_TIME_US, "/dev/baseboard_eeprom", 1);
#if defined(CONFIG_STM32_SPI3)
/* Get the SPI port */
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");
#endif /* SPI3 */
/* initialize I2C1 bus */
i2c1 = up_i2cinitialize(1);
if (!i2c1) {
message("[boot] FAILED to initialize I2C bus 1\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
/* set I2C1 speed */
I2C_SETFREQUENCY(i2c1, 400000);
/* INIT 3: MULTIPORT-DEPENDENT INITIALIZATION */
/* Get board information if available */
/* Initialize the user GPIOs */
px4fmu_gpio_init();
#ifdef CONFIG_ADC
int adc_state = adc_devinit();
if (adc_state != OK)
{
/* Try again */
adc_state = adc_devinit();
if (adc_state != OK)
{
/* Give up */
message("[boot] FAILED adc_devinit: %d\n", adc_state);
return -ENODEV;
}
}
#endif
return OK;
}

166
apps/drivers/boards/px4fmu/px4fmu_internal.h Normal file
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@ -0,0 +1,166 @@
/****************************************************************************
*
* 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>
/****************************************************************************************************
* 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);
/****************************************************************************************************
* Name: px4fmu_gpio_init
*
* Description:
* Called to configure the PX4FMU user GPIOs
*
****************************************************************************************************/
extern void px4fmu_gpio_init(void);
// XXX additional SPI chipselect functions required?
#endif /* __ASSEMBLY__ */

31
nuttx/configs/px4fmu/include/up_hrt.h → apps/drivers/drv_hrt.h
View File

@ -31,12 +31,13 @@
*
****************************************************************************/
/*
* High-resolution timer callouts and timekeeping.
/**
* @file drv_hrt.h
*
* High-resolution timer with callouts and timekeeping.
*/
#ifndef UP_HRT_H_
#define UP_HRT_H_
#pragma once
#include <sys/types.h>
#include <stdbool.h>
@ -44,6 +45,8 @@
#include <time.h>
#include <queue.h>
__BEGIN_DECLS
/*
* Absolute time, in microsecond units.
*
@ -76,17 +79,17 @@ typedef struct hrt_call {
/*
* Get absolute time.
*/
extern hrt_abstime hrt_absolute_time(void);
__EXPORT extern hrt_abstime hrt_absolute_time(void);
/*
* Convert a timespec to absolute time.
*/
extern hrt_abstime ts_to_abstime(struct timespec *ts);
__EXPORT extern hrt_abstime ts_to_abstime(struct timespec *ts);
/*
* Convert absolute time to a timespec.
*/
extern void abstime_to_ts(struct timespec *ts, hrt_abstime abstime);
__EXPORT extern void abstime_to_ts(struct timespec *ts, hrt_abstime abstime);
/*
* Call callout(arg) after delay has elapsed.
@ -94,12 +97,12 @@ extern void abstime_to_ts(struct timespec *ts, hrt_abstime abstime);
* If callout is NULL, this can be used to implement a timeout by testing the call
* with hrt_called().
*/
extern void hrt_call_after(struct hrt_call *entry, hrt_abstime delay, hrt_callout callout, void *arg);
__EXPORT extern void hrt_call_after(struct hrt_call *entry, hrt_abstime delay, hrt_callout callout, void *arg);
/*
* Call callout(arg) at absolute time calltime.
*/
extern void hrt_call_at(struct hrt_call *entry, hrt_abstime calltime, hrt_callout callout, void *arg);
__EXPORT extern void hrt_call_at(struct hrt_call *entry, hrt_abstime calltime, hrt_callout callout, void *arg);
/*
* Call callout(arg) after delay, and then after every interval.
@ -107,7 +110,7 @@ extern void hrt_call_at(struct hrt_call *entry, hrt_abstime calltime, hrt_callou
* Note thet the interval is timed between scheduled, not actual, call times, so the call rate may
* jitter but should not drift.
*/
extern void hrt_call_every(struct hrt_call *entry, hrt_abstime delay, hrt_abstime interval, hrt_callout callout, void *arg);
__EXPORT extern void hrt_call_every(struct hrt_call *entry, hrt_abstime delay, hrt_abstime interval, hrt_callout callout, void *arg);
/*
* If this returns true, the entry has been invoked and removed from the callout list,
@ -115,16 +118,16 @@ extern void hrt_call_every(struct hrt_call *entry, hrt_abstime delay, hrt_abstim
*
* Always returns false for repeating callouts.
*/
extern bool hrt_called(struct hrt_call *entry);
__EXPORT extern bool hrt_called(struct hrt_call *entry);
/*
* Remove the entry from the callout list.
*/
extern void hrt_cancel(struct hrt_call *entry);
__EXPORT extern void hrt_cancel(struct hrt_call *entry);
/*
* Initialise the HRT.
*/
extern void hrt_init(void);
__EXPORT extern void hrt_init(void);
#endif /* UP_HRT_H_ */
__END_DECLS

6
apps/drivers/hmc5883/hmc5883.cpp
View File

@ -58,7 +58,7 @@
#include <nuttx/wqueue.h>
#include <nuttx/clock.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include <systemlib/perf_counter.h>
#include <systemlib/err.h>
@ -115,6 +115,10 @@
#endif
static const int ERROR = -1;
#ifndef CONFIG_SCHED_WORKQUEUE
# error This requires CONFIG_SCHED_WORKQUEUE.
#endif
class HMC5883 : public device::I2C
{
public:

2
apps/drivers/l3gd20/l3gd20.cpp
View File

@ -57,7 +57,7 @@
#include <nuttx/arch.h>
#include <nuttx/clock.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include <arch/board/board.h>
#include <drivers/device/spi.h>

2
apps/drivers/mpu6000/mpu6000.cpp
View File

@ -61,7 +61,7 @@
#include <nuttx/clock.h>
#include <arch/board/board.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include <drivers/device/spi.h>
#include <drivers/drv_accel.h>

6
apps/drivers/ms5611/ms5611.cpp
View File

@ -57,7 +57,7 @@
#include <nuttx/wqueue.h>
#include <nuttx/clock.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include <systemlib/perf_counter.h>
#include <systemlib/err.h>
@ -70,6 +70,10 @@
#endif
static const int ERROR = -1;
#ifndef CONFIG_SCHED_WORKQUEUE
# error This requires CONFIG_SCHED_WORKQUEUE.
#endif
/**
* Calibration PROM as reported by the device.
*/

2
apps/drivers/stm32/tone_alarm/tone_alarm.cpp
View File

@ -71,7 +71,7 @@
#include <unistd.h>
#include <arch/board/board.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include <arch/stm32/chip.h>
#include <up_internal.h>

2
apps/fixedwing_control/fixedwing_control.c
View File

@ -48,7 +48,7 @@
#include <math.h>
#include <poll.h>
#include <time.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include <arch/board/board.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_global_position.h>

2
apps/gps/mtk.c
View File

@ -43,7 +43,7 @@
#include <pthread.h>
#include <poll.h>
#include <fcntl.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <mavlink/mavlink_log.h>

2
apps/gps/nmea_helper.c
View File

@ -44,7 +44,7 @@
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <mavlink/mavlink_log.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#define NMEA_HEALTH_SUCCESS_COUNTER_LIMIT 2
#define NMEA_HEALTH_FAIL_COUNTER_LIMIT 2

2
apps/gps/ubx.c
View File

@ -40,7 +40,7 @@
#include "gps.h"
#include <sys/prctl.h>
#include <poll.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include <uORB/uORB.h>
#include <string.h>
#include <stdbool.h>

2
apps/mavlink/mavlink.c
View File

@ -50,7 +50,7 @@
#include <string.h>
#include "mavlink_bridge_header.h"
#include <v1.0/common/mavlink.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include <time.h>
#include <float.h>
#include <unistd.h>

2
apps/mavlink/mavlink_receiver.c
View File

@ -49,7 +49,7 @@
#include <string.h>
#include "mavlink_bridge_header.h"
#include <v1.0/common/mavlink.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include <time.h>
#include <float.h>
#include <unistd.h>

2
apps/mavlink/missionlib.c
View File

@ -49,7 +49,7 @@
#include <string.h>
#include "mavlink_bridge_header.h"
#include <v1.0/common/mavlink.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include <time.h>
#include <float.h>
#include <unistd.h>

2
apps/mavlink/orb_listener.c
View File

@ -46,7 +46,7 @@
#include <string.h>
#include "mavlink_bridge_header.h"
#include <v1.0/common/mavlink.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include <time.h>
#include <float.h>
#include <unistd.h>

2
apps/multirotor_att_control/multirotor_att_control_main.c
View File

@ -54,7 +54,7 @@
#include <math.h>
#include <poll.h>
#include <sys/prctl.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include <uORB/uORB.h>
#include <drivers/drv_gyro.h>
#include <uORB/topics/vehicle_status.h>

2
apps/multirotor_att_control/multirotor_attitude_control.c
View File

@ -52,7 +52,7 @@
#include <math.h>
#include <systemlib/pid/pid.h>
#include <systemlib/param/param.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
PARAM_DEFINE_FLOAT(MC_YAWPOS_P, 0.3f);
PARAM_DEFINE_FLOAT(MC_YAWPOS_I, 0.15f);

2
apps/multirotor_att_control/multirotor_rate_control.c
View File

@ -53,7 +53,7 @@
#include <systemlib/pid/pid.h>
#include <systemlib/param/param.h>
#include <systemlib/err.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.1f); /* same on Flamewheel */
PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f);

2
apps/multirotor_pos_control/multirotor_pos_control.c
View File

@ -48,7 +48,7 @@
#include <termios.h>
#include <time.h>
#include <sys/prctl.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_attitude.h>

2
apps/px4/attitude_estimator_bm/attitude_estimator_bm.c
View File

@ -46,7 +46,7 @@
#include <sys/time.h>
#include <stdbool.h>
#include <fcntl.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include <string.h>
#include <poll.h>
#include <uORB/uORB.h>

2
apps/px4/tests/test_hrt.c
View File

@ -50,7 +50,7 @@
#include <unistd.h>
#include <arch/board/board.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_tone_alarm.h>
#include <nuttx/spi.h>

2
apps/px4/tests/test_time.c
View File

@ -53,7 +53,7 @@
#include <math.h>
#include <float.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
/****************************************************************************

2
apps/px4/tests/test_uart_console.c
View File

@ -56,7 +56,7 @@
#include <math.h>
#include <float.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
/****************************************************************************

2
apps/px4/tests/test_uart_send.c
View File

@ -56,7 +56,7 @@
#include <math.h>
#include <float.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
/****************************************************************************

2
apps/px4/tests/tests_file.c
View File

@ -44,7 +44,7 @@
#include <systemlib/perf_counter.h>
#include <string.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include "tests.h"

2
apps/px4io/comms.c
View File

@ -48,7 +48,7 @@
#include <nuttx/clock.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include <systemlib/hx_stream.h>
#include <systemlib/perf_counter.h>

2
apps/px4io/mixer.c
View File

@ -47,7 +47,7 @@
#include <arch/board/drv_ppm_input.h>
#include <arch/board/drv_pwm_servo.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include "px4io.h"

2
apps/px4io/px4io.c
View File

@ -50,7 +50,7 @@
#include <arch/board/up_boardinitialize.h>
#include <arch/board/drv_gpio.h>
#include <arch/board/drv_ppm_input.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include "px4io.h"

2
apps/px4io/safety.c
View File

@ -49,7 +49,7 @@
#include <arch/board/up_boardinitialize.h>
#include <arch/board/drv_gpio.h>
#include <arch/board/drv_ppm_input.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include "px4io.h"

2
apps/sdlog/sdlog.c
View File

@ -51,7 +51,7 @@
#include <string.h>
#include <systemlib/err.h>
#include <unistd.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include <uORB/uORB.h>
#include <uORB/topics/sensor_combined.h>

2
apps/sensors/sensors.cpp
View File

@ -52,7 +52,7 @@
#include <errno.h>
#include <math.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_gyro.h>

2
apps/systemcmds/led/led.c
View File

@ -50,7 +50,7 @@
#include <termios.h>
#include <time.h>
#include <sys/prctl.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include <arch/board/drv_led.h>
#include <systemlib/err.h>

2
apps/systemcmds/top/top.c
View File

@ -47,7 +47,7 @@
#include <poll.h>
#include <arch/board/up_cpuload.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
/**
* Start the top application.

5
apps/systemlib/Makefile
View File

@ -41,8 +41,13 @@ CSRCS = err.c \
param/param.c \
bson/tinybson.c \
conversions.c \
cpuload.c \
getopt_long.c
# ppm_decode.c \
#
# XXX this really should be a CONFIG_* test
#

180
apps/systemlib/cpuload.c Normal file
View File

@ -0,0 +1,180 @@
/****************************************************************************
* configs/px4fmu/src/up_leds.c
* arch/arm/src/board/up_leds.c
*
* Copyright (C) 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 <stdint.h>
#include <stdbool.h>
#include <debug.h>
#include <sys/time.h>
#include <sched.h>
#include <arch/board/board.h>
#include <drivers/drv_hrt.h>
#include "cpuload.h"
#ifdef CONFIG_SCHED_INSTRUMENTATION
/****************************************************************************
* Definitions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
__EXPORT void sched_note_start(FAR _TCB *tcb);
__EXPORT void sched_note_stop(FAR _TCB *tcb);
__EXPORT void sched_note_switch(FAR _TCB *pFromTcb, FAR _TCB *pToTcb);
/****************************************************************************
* Name:
****************************************************************************/
__EXPORT struct system_load_s system_load;
extern FAR _TCB *sched_gettcb(pid_t pid);
void cpuload_initialize_once()
{
// if (!system_load.initialized)
// {
system_load.start_time = hrt_absolute_time();
int i;
for (i = 0; i < CONFIG_MAX_TASKS; i++)
{
system_load.tasks[i].valid = false;
}
system_load.total_count = 0;
uint64_t now = hrt_absolute_time();
/* initialize idle thread statically */
system_load.tasks[0].start_time = now;
system_load.tasks[0].total_runtime = 0;
system_load.tasks[0].curr_start_time = 0;
system_load.tasks[0].tcb = sched_gettcb(0);
system_load.tasks[0].valid = true;
system_load.total_count++;
/* initialize init thread statically */
system_load.tasks[1].start_time = now;
system_load.tasks[1].total_runtime = 0;
system_load.tasks[1].curr_start_time = 0;
system_load.tasks[1].tcb = sched_gettcb(1);
system_load.tasks[1].valid = true;
/* count init thread */
system_load.total_count++;
// }
}
void sched_note_start(FAR _TCB *tcb )
{
/* search first free slot */
int i;
for (i = 1; i < CONFIG_MAX_TASKS; i++)
{
if (!system_load.tasks[i].valid)
{
/* slot is available */
system_load.tasks[i].start_time = hrt_absolute_time();
system_load.tasks[i].total_runtime = 0;
system_load.tasks[i].curr_start_time = 0;
system_load.tasks[i].tcb = tcb;
system_load.tasks[i].valid = true;
system_load.total_count++;
break;
}
}
}
void sched_note_stop(FAR _TCB *tcb )
{
int i;
for (i = 1; i < CONFIG_MAX_TASKS; i++)
{
if (system_load.tasks[i].tcb->pid == tcb->pid)
{
/* mark slot as fee */
system_load.tasks[i].valid = false;
system_load.tasks[i].total_runtime = 0;
system_load.tasks[i].curr_start_time = 0;
system_load.tasks[i].tcb = NULL;
system_load.total_count--;
break;
}
}
}
void sched_note_switch(FAR _TCB *pFromTcb, FAR _TCB *pToTcb)
{
uint64_t new_time = hrt_absolute_time();
/* Kind of inefficient: find both tasks and update times */
uint8_t both_found = 0;
for (int i = 0; i < CONFIG_MAX_TASKS; i++)
{
/* Task ending its current scheduling run */
if (system_load.tasks[i].tcb->pid == pFromTcb->pid)
{
//if (system_load.tasks[i].curr_start_time != 0)
{
system_load.tasks[i].total_runtime += new_time - system_load.tasks[i].curr_start_time;
}
both_found++;
}
else if (system_load.tasks[i].tcb->pid == pToTcb->pid)
{
system_load.tasks[i].curr_start_time = new_time;
both_found++;
}
/* Do only iterate as long as needed */
if (both_found == 2)
{
break;
}
}
}
#endif /* CONFIG_SCHED_INSTRUMENTATION */

63
apps/systemlib/cpuload.h Normal file
View File

@ -0,0 +1,63 @@
/****************************************************************************
*
* 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.
*
****************************************************************************/
#pragma once
#ifdef CONFIG_SCHED_INSTRUMENTATION
__BEGIN_DECLS
#include <nuttx/sched.h>
struct system_load_taskinfo_s {
uint64_t total_runtime; ///< Runtime since start (start_time - total_runtime)/(start_time - current_time) = load
uint64_t curr_start_time; ///< Start time of the current scheduling slot
uint64_t start_time; ///< FIRST start time of task
FAR struct _TCB *tcb; ///<
bool valid; ///< Task is currently active / valid
};
struct system_load_s {
uint64_t start_time; ///< Global start time of measurements
struct system_load_taskinfo_s tasks[CONFIG_MAX_TASKS];
uint8_t initialized;
int total_count;
int running_count;
int sleeping_count;
};
__EXPORT extern struct system_load_s system_load;
__EXPORT void cpuload_initialize_once(void);
#endif

2
apps/systemlib/param/param.c
View File

@ -50,7 +50,7 @@
#include <sys/stat.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include "systemlib/param/param.h"
#include "systemlib/uthash/utarray.h"

2
apps/systemlib/perf_counter.c
View File

@ -40,7 +40,7 @@
#include <stdlib.h>
#include <stdio.h>
#include <sys/queue.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include "perf_counter.h"

242
apps/systemlib/ppm_decode.c Normal file
View File

@ -0,0 +1,242 @@
/****************************************************************************
*
* 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 ppm_decode.c
*
* PPM input decoder.
*/
#include <nuttx/config.h>
#include <stdint.h>
#include <string.h>
#include <drivers/drv_hrt.h>
#include "ppm_decode.h"
/*
* PPM decoder tuning parameters.
*
* The PPM decoder works as follows.
*
* Initially, the decoder waits in the UNSYNCH state for two edges
* separated by PPM_MIN_START. Once the second edge is detected,
* the decoder moves to the ARM state.
*
* The ARM state expects an edge within PPM_MAX_PULSE_WIDTH, being the
* timing mark for the first channel. If this is detected, it moves to
* the INACTIVE state.
*
* The INACTIVE phase waits for and discards the next edge, as it is not
* significant. Once the edge is detected, it moves to the ACTIVE stae.
*
* The ACTIVE state expects an edge within PPM_MAX_PULSE_WIDTH, and when
* received calculates the time from the previous mark and records
* this time as the value for the next channel.
*
* If at any time waiting for an edge, the delay from the previous edge
* exceeds PPM_MIN_START the frame is deemed to have ended and the recorded
* values are advertised to clients.
*/
#define PPM_MAX_PULSE_WIDTH 500 /* maximum width of a pulse */
#define PPM_MIN_CHANNEL_VALUE 800 /* shortest valid channel signal */
#define PPM_MAX_CHANNEL_VALUE 2200 /* longest valid channel signal */
#define PPM_MIN_START 2500 /* shortest valid start gap */
/* Input timeout - after this interval we assume signal is lost */
#define PPM_INPUT_TIMEOUT 100 * 1000 /* 100ms */
/* Number of same-sized frames required to 'lock' */
#define PPM_CHANNEL_LOCK 3 /* should be less than the input timeout */
/* decoded PPM buffer */
#define PPM_MIN_CHANNELS 4
#define PPM_MAX_CHANNELS 12
/*
* Public decoder state
*/
uint16_t ppm_buffer[PPM_MAX_CHANNELS];
unsigned ppm_decoded_channels;
hrt_abstime ppm_last_valid_decode;
static uint16_t ppm_temp_buffer[PPM_MAX_CHANNELS];
/* PPM decoder state machine */
static struct {
uint16_t last_edge; /* last capture time */
uint16_t last_mark; /* last significant edge */
unsigned next_channel;
unsigned count_max;
enum {
UNSYNCH = 0,
ARM,
ACTIVE,
INACTIVE
} phase;
} ppm;
void
ppm_input_init(unsigned count_max)
{
ppm_decoded_channels = 0;
ppm_last_valid_decode = 0;
memset(&ppm, 0, sizeof(ppm));
ppm.count_max = count_max;
}
void
ppm_input_decode(bool reset, unsigned count)
{
uint16_t width;
uint16_t interval;
unsigned i;
/* if we missed an edge, we have to give up */
if (reset)
goto error;
/* how long since the last edge? */
width = count - ppm.last_edge;
if (count < ppm.last_edge)
width += ppm.count_max; /* handle wrapped count */
ppm.last_edge = count;
/*
* If this looks like a start pulse, then push the last set of values
* and reset the state machine.
*
* Note that this is not a "high performance" design; it implies a whole
* frame of latency between the pulses being received and their being
* considered valid.
*/
if (width >= PPM_MIN_START) {
/*
* If the number of channels changes unexpectedly, we don't want
* to just immediately jump on the new count as it may be a result
* of noise or dropped edges. Instead, take a few frames to settle.
*/
if (ppm.next_channel != ppm_decoded_channels) {
static unsigned new_channel_count;
static unsigned new_channel_holdoff;
if (new_channel_count != ppm.next_channel) {
/* start the lock counter for the new channel count */
new_channel_count = ppm.next_channel;
new_channel_holdoff = PPM_CHANNEL_LOCK;
} else if (new_channel_holdoff > 0) {
/* this frame matched the last one, decrement the lock counter */
new_channel_holdoff--;
} else {
/* we have seen PPM_CHANNEL_LOCK frames with the new count, accept it */
ppm_decoded_channels = new_channel_count;
new_channel_count = 0;
}
} else {
/* frame channel count matches expected, let's use it */
if (ppm.next_channel > PPM_MIN_CHANNELS) {
for (i = 0; i < ppm.next_channel; i++)
ppm_buffer[i] = ppm_temp_buffer[i];
ppm_last_valid_decode = hrt_absolute_time();
}
}
/* reset for the next frame */
ppm.next_channel = 0;
/* next edge is the reference for the first channel */
ppm.phase = ARM;
return;
}
switch (ppm.phase) {
case UNSYNCH:
/* we are waiting for a start pulse - nothing useful to do here */
return;
case ARM:
/* we expect a pulse giving us the first mark */
if (width > PPM_MAX_PULSE_WIDTH)
goto error; /* pulse was too long */
/* record the mark timing, expect an inactive edge */
ppm.last_mark = count;
ppm.phase = INACTIVE;
return;
case INACTIVE:
/* this edge is not interesting, but now we are ready for the next mark */
ppm.phase = ACTIVE;
/* note that we don't bother looking at the timing of this edge */
return;
case ACTIVE:
/* we expect a well-formed pulse */
if (width > PPM_MAX_PULSE_WIDTH)
goto error; /* pulse was too long */
/* determine the interval from the last mark */
interval = count - ppm.last_mark;
ppm.last_mark = count;
/* if the mark-mark timing is out of bounds, abandon the frame */
if ((interval < PPM_MIN_CHANNEL_VALUE) || (interval > PPM_MAX_CHANNEL_VALUE))
goto error;
/* if we have room to store the value, do so */
if (ppm.next_channel < PPM_MAX_CHANNELS)
ppm_temp_buffer[ppm.next_channel++] = interval;
ppm.phase = INACTIVE;
return;
}
/* the state machine is corrupted; reset it */
error:
/* we don't like the state of the decoder, reset it and try again */
ppm.phase = UNSYNCH;
ppm_decoded_channels = 0;
}

80
apps/systemlib/ppm_decode.h Normal file
View File

@ -0,0 +1,80 @@
/****************************************************************************
*
* 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 ppm_decode.h
*
* PPM input decoder.
*/
#pragma once
#include <drivers/drv_hrt.h>
/**
* Maximum number of channels that we will decode.
*/
#define PPM_MAX_CHANNELS 12
__BEGIN_DECLS
/*
* PPM decoder state
*/
__EXPORT extern uint16_t ppm_buffer[]; /**< decoded PPM channel values */
__EXPORT extern unsigned ppm_decoded_channels; /**< count of decoded channels */
__EXPORT extern hrt_abstime ppm_last_valid_decode; /**< timestamp of the last valid decode */
/**
* Initialise the PPM input decoder.
*
* @param count_max The maximum value of the counter passed to
* ppm_input_decode, used to determine how to
* handle counter wrap.
*/
__EXPORT void ppm_input_init(unsigned count_max);
/**
* Inform the decoder of an edge on the PPM input.
*
* This function can be registered with the HRT as the PPM edge handler.
*
* @param reset If set, the edge detector has missed one or
* more edges and the decoder needs to be reset.
* @param count A microsecond timestamp corresponding to the
* edge, in the range 0-count_max. This value
* is expected to wrap.
*/
__EXPORT void ppm_input_decode(bool reset, unsigned count);
__END_DECLS

2
apps/uORB/uORB.cpp
View File

@ -56,7 +56,7 @@
#include <nuttx/wqueue.h>
#include <nuttx/clock.h>
#include <arch/board/up_hrt.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_orb_dev.h>

1
nuttx/configs/px4fmu/nsh/appconfig
View File

@ -87,6 +87,7 @@ CONFIGURED_APPS += px4/ground_estimator
#CONFIGURED_APPS += tools/i2c_dev
# Communication and Drivers
CONFIGURED_APPS += drivers/boards/px4fmu
CONFIGURED_APPS += drivers/device
CONFIGURED_APPS += drivers/ms5611
CONFIGURED_APPS += drivers/hmc5883

9
nuttx/configs/px4fmu/src/Makefile
View File

@ -40,15 +40,10 @@ CFLAGS += -I$(TOPDIR)/sched
ASRCS =
AOBJS = $(ASRCS:.S=$(OBJEXT))
CSRCS = up_boot.c up_leds.c up_spi.c up_hrt.c \
CSRCS = up_boot.c up_leds.c up_spi.c \
drv_gpio.c \
drv_led.c drv_eeprom.c \
up_pwm_servo.c up_usbdev.c \
up_cpuload.c
ifeq ($(CONFIG_NSH_ARCHINIT),y)
CSRCS += up_nsh.c
endif
up_pwm_servo.c up_usbdev.c
ifeq ($(CONFIG_ADC),y)
CSRCS += up_adc.c