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Code Pull Requests Activity

Tweak configs for CF2 

Fix build error

Capitalization mistake for headers

Non-Mac compiler issue

Baudrate for crazyflie nrf and fix code style

Save space

Cleanup mpu9250 driver
This commit is contained in:
Dennis Shtatnov 2016-08-22 00:21:29 -04:00 committed by Lorenz Meier
parent 5100785f51
commit e6b98b2ab8
16 changed files with 172 additions and 381 deletions
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26
ROMFS/px4fmu_common/init.d/rcS
View File

@ -628,8 +628,23 @@ then
px4flow start &
fi
# Start USB shell if no microSD present, MAVLink else
set DEBUG_MODE no
if [ $LOG_FILE == /dev/null ]
then
set DEBUG_MODE yes
fi
if ver hwcmp CRAZYFLIE
then
set DEBUG_MODE no
fi
# Start USB shell if no microSD present, MAVLink else
if [ $DEBUG_MODE == yes ]
then
# Try to get an USB console
nshterm /dev/ttyACM0 &
@ -681,15 +696,6 @@ then
ardrone_interface start -d /dev/ttyS1
fi
#
# Start Crazyflie driver
#
if ver hwcmp CRAZYFLIE
then
crazyflie start
fi
#
# Fixed wing setup
#

6
cmake/configs/nuttx_crazyflie_default.cmake
View File

@ -9,13 +9,11 @@ set(config_module_list
drivers/device
drivers/stm32
drivers/led
drivers/px4fmu
drivers/boards/crazyflie
drivers/crazyflie
drivers/mpu9250
#drivers/ak8963
drivers/lps25h
drivers/gps
# drivers/pwm_out_sim
modules/sensors
#
@ -70,7 +68,6 @@ set(config_module_list
# Logging
#
modules/sdlog2
modules/screen
#
# Library modules
@ -84,7 +81,6 @@ set(config_module_list
#
# Libraries
#
#lib/mathlib/CMSIS
lib/controllib
lib/mathlib
lib/mathlib/math/filter

22
src/drivers/boards/crazyflie/board_config.h
View File

@ -112,17 +112,17 @@ __BEGIN_DECLS
#define ADC_BATTERY_CURRENT_CHANNEL ((uint8_t)(-1))
#define ADC_AIRSPEED_VOLTAGE_CHANNEL ((uint8_t)(-1))
/* PWM
*
* Four PWM motor outputs are configured.
*
* Pins:
*
* CH1 : PA1 : TIM2_CH2
* CH2 : PB11 : TIM2_CH4
* CH3 : PA15 : TIM2_CH1
* CH4 : PB9 : TIM4_CH4
*/
/* PWM
*
* Four PWM motor outputs are configured.
*
* Pins:
*
* CH1 : PA1 : TIM2_CH2
* CH2 : PB11 : TIM2_CH4
* CH3 : PA15 : TIM2_CH1
* CH4 : PB9 : TIM4_CH4
*/
#define GPIO_TIM2_CH2OUT GPIO_TIM2_CH2OUT_1
#define GPIO_TIM2_CH4OUT GPIO_TIM2_CH4OUT_2

31
src/drivers/boards/crazyflie/crazyflie_init.c
View File

@ -102,6 +102,17 @@
* Public Functions
****************************************************************************/
/************************************************************************************
* Name: board_peripheral_reset
*
* Description:
*
************************************************************************************/
__EXPORT void board_peripheral_reset(int ms)
{
}
/************************************************************************************
* Name: stm32_boardinitialize
*
@ -129,20 +140,6 @@ stm32_boardinitialize(void)
#include <math.h>
#if 0
#ifdef __cplusplus
__EXPORT int matherr(struct __exception *e)
{
return 1;
}
#else
__EXPORT int matherr(struct exception *e)
{
return 1;
}
#endif
#endif
__EXPORT int nsh_archinitialize(void)
{
int result;
@ -177,13 +174,9 @@ __EXPORT int nsh_archinitialize(void)
result = board_i2c_initialize();
if (result != OK) {
// up_ledon(LED_AMBER);
led_on(1);
return -ENODEV;
}
// TODO: Initialize i2c buses right here
return OK;
}

18
src/drivers/crazyflie/crazyflie.cpp
View File

@ -428,7 +428,7 @@ Crazyflie::cycle()
/* the PWM limit call takes care of out of band errors, NaN and constrains */
pwm_limit_calc(_servo_armed, arm_nothrottle(), num_outputs, _reverse_pwm_mask, _disarmed_pwm, _min_pwm, _max_pwm,
outputs, pwm_limited, &_pwm_limit);
outputs, pwm_limited, &_pwm_limit);
/* output to the servos */
for (size_t i = 0; i < num_outputs; i++) {
@ -499,9 +499,9 @@ void Crazyflie::work_stop()
int
Crazyflie::control_callback(uintptr_t handle,
uint8_t control_group,
uint8_t control_index,
float &input)
uint8_t control_group,
uint8_t control_index,
float &input)
{
const actuator_controls_s *controls = (actuator_controls_s *)handle;
@ -518,7 +518,7 @@ Crazyflie::control_callback(uintptr_t handle,
/* motor spinup phase - lock throttle to zero */
if (_pwm_limit.state == PWM_LIMIT_STATE_RAMP) {
if (control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE &&
control_index == actuator_controls_s::INDEX_THROTTLE) {
control_index == actuator_controls_s::INDEX_THROTTLE) {
/* limit the throttle output to zero during motor spinup,
* as the motors cannot follow any demand yet
*/
@ -529,7 +529,7 @@ Crazyflie::control_callback(uintptr_t handle,
/* throttle not arming - mark throttle input as invalid */
if (arm_nothrottle()) {
if (control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE &&
control_index == actuator_controls_s::INDEX_THROTTLE) {
control_index == actuator_controls_s::INDEX_THROTTLE) {
/* set the throttle to an invalid value */
input = NAN_VALUE;
}
@ -770,7 +770,7 @@ Crazyflie::ioctl(file *filp, int cmd, unsigned long arg)
mixer_simple_s *mixinfo = (mixer_simple_s *)arg;
SimpleMixer *mixer = new SimpleMixer(control_callback,
(uintptr_t)_controls, mixinfo);
(uintptr_t)_controls, mixinfo);
if (mixer->check()) {
delete mixer;
@ -1077,8 +1077,8 @@ crazyflie_main(int argc, char *argv[])
if (!strcmp(verb, "start")) {
if (crazyflie_start() == OK) {
errx(0, "Crazyflie driver started");
}
else {
} else {
errx(1, "failed to start the Crazyflie driver");
}

3
src/drivers/lps25h/lps25h.cpp
View File

@ -830,7 +830,7 @@ LPS25H::collect()
} else {
_baro_topic = orb_advertise_multi(ORB_ID(sensor_baro), &new_report,
&_orb_class_instance, (sensor_is_onboard) ? ORB_PRIO_HIGH : ORB_PRIO_MAX);
&_orb_class_instance, (sensor_is_onboard) ? ORB_PRIO_HIGH : ORB_PRIO_MAX);
if (_baro_topic == nullptr) {
DEVICE_DEBUG("ADVERT FAIL");
@ -1306,6 +1306,7 @@ lps25h_main(int argc, char *argv[])
while ((ch = getopt(argc, argv, "XIS:CT")) != EOF) {
switch (ch) {
#if (PX4_I2C_BUS_ONBOARD || PX4_SPIDEV_HMC)
case 'I':
busid = LPS25H_BUS_I2C_INTERNAL;
break;

108
src/drivers/mpu9250/mag.cpp
View File

@ -68,87 +68,6 @@
#include "mpu9250.h"
/* in 16-bit sampling mode the mag resolution is 1.5 milli Gauss per bit */
#define MPU9250_MAG_RANGE_GA 1.5e-3f;
/* we are using the continuous fixed sampling rate of 100Hz */
#define MPU9250_AK8963_SAMPLE_RATE 100
/* mpu9250 master i2c bus specific register address and bit definitions */
#define MPUREG_I2C_MST_STATUS 0x36
#define BIT_I2C_READ_FLAG 0x80
#define MPUREG_I2C_MST_CTRL 0x24
#define MPUREG_I2C_SLV0_ADDR 0x25
#define MPUREG_I2C_SLV0_REG 0x26
#define MPUREG_I2C_SLV0_CTRL 0x27
#define MPUREG_I2C_SLV4_ADDR 0x31
#define MPUREG_I2C_SLV4_REG 0x32
#define MPUREG_I2C_SLV4_DO 0x33
#define MPUREG_I2C_SLV4_CTRL 0x34
#define MPUREG_I2C_SLV4_DI 0x35
#define MPUREG_EXT_SENS_DATA_00 0x49
#define MPUREG_I2C_SLV0_D0 0x63
#define MPUREG_I2C_MST_DELAY_CTRL 0x67
#define MPUREG_USER_CTRL 0x6A
#define BIT_I2C_SLV0_NACK 0x01
#define BIT_I2C_FIFO_EN 0x40
#define BIT_I2C_MST_EN 0x20
#define BIT_I2C_IF_DIS 0x10
#define BIT_FIFO_RST 0x04
#define BIT_I2C_MST_RST 0x02
#define BIT_SIG_COND_RST 0x01
#define BIT_I2C_SLV0_EN 0x80
#define BIT_I2C_SLV0_BYTE_SW 0x40
#define BIT_I2C_SLV0_REG_DIS 0x20
#define BIT_I2C_SLV0_REG_GRP 0x10
#define BIT_I2C_MST_MULT_MST_EN 0x80
#define BIT_I2C_MST_WAIT_FOR_ES 0x40
#define BIT_I2C_MST_SLV_3_FIFO_EN 0x20
#define BIT_I2C_MST_P_NSR 0x10
#define BITS_I2C_MST_CLOCK_258HZ 0x08
#define BITS_I2C_MST_CLOCK_400HZ 0x0D
#define BIT_I2C_SLV0_DLY_EN 0x01
#define BIT_I2C_SLV1_DLY_EN 0x02
#define BIT_I2C_SLV2_DLY_EN 0x04
#define BIT_I2C_SLV3_DLY_EN 0x08
/* ak8963 register address and bit definitions */
#define AK8963_I2C_ADDR 0x0C
#define AK8963_DEVICE_ID 0x48
#define AK8963REG_WIA 0x00
#define AK8963REG_ST1 0x02
#define AK8963REG_HXL 0x03
#define AK8963REG_ASAX 0x10
#define AK8963REG_CNTL1 0x0A
#define AK8963REG_CNTL2 0x0B
#define AK8963_SINGLE_MEAS_MODE 0x01
#define AK8963_CONTINUOUS_MODE1 0x02
#define AK8963_CONTINUOUS_MODE2 0x06
#define AK8963_POWERDOWN_MODE 0x00
#define AK8963_SELFTEST_MODE 0x08
#define AK8963_FUZE_MODE 0x0F
#define AK8963_16BIT_ADC 0x10
#define AK8963_14BIT_ADC 0x00
#define AK8963_RESET 0x01
// If interface is non-null, then it will used for interacting with the device.
// Otherwise, it will passthrough the parent MPU9250
MPU9250_mag::MPU9250_mag(MPU9250 *parent, device::Device *interface, const char *path) :
@ -255,7 +174,8 @@ void
MPU9250_mag::measure()
{
struct ak8963_regs data;
if(OK == _interface->read(AK8963REG_ST1, &data, sizeof(struct ak8963_regs))){
if (OK == _interface->read(AK8963REG_ST1, &data, sizeof(struct ak8963_regs))) {
_measure(data);
}
}
@ -536,12 +456,14 @@ uint8_t
MPU9250_mag::read_reg(unsigned int reg)
{
uint8_t buf;
if (_interface == nullptr) {
passthrough_read(reg, &buf, 0x01);
}
else {
} else {
_interface->read(reg, &buf, 1);
}
return buf;
}
@ -580,8 +502,8 @@ MPU9250_mag::write_reg(unsigned reg, uint8_t value)
// general register transfer at low clock speed
if (_interface == nullptr) {
passthrough_write(reg, value);
}
else {
} else {
_interface->write(MPU9250_LOW_SPEED_OP(reg), &value, 1);
}
}
@ -603,12 +525,14 @@ MPU9250_mag::ak8963_read_adjustments(void)
write_reg(AK8963REG_CNTL1, AK8963_FUZE_MODE | AK8963_16BIT_ADC);
usleep(50);
if (_interface != nullptr) {
_interface->read(AK8963REG_ASAX, response, 3);
}
else {
} else {
passthrough_read(AK8963REG_ASAX, response, 3);
}
write_reg(AK8963REG_CNTL1, AK8963_POWERDOWN_MODE);
for (int i = 0; i < 3; i++) {
@ -633,12 +557,12 @@ MPU9250_mag::ak8963_setup(void)
int retries = 10;
/* Configures the parent to act in master mode */
if(_interface == nullptr) {
if (_interface == nullptr) {
uint8_t user_ctrl = _parent->read_reg(MPUREG_USER_CTRL);
_parent->write_checked_reg(MPUREG_USER_CTRL, user_ctrl | BIT_I2C_MST_EN);
_parent->write_reg(MPUREG_I2C_MST_CTRL, BIT_I2C_MST_P_NSR | BIT_I2C_MST_WAIT_FOR_ES | BITS_I2C_MST_CLOCK_400HZ);
}
else {
} else {
// uint8_t user_ctrl = _parent->read_reg(MPUREG_USER_CTRL);
// // Passthrough mode
@ -659,7 +583,7 @@ MPU9250_mag::ak8963_setup(void)
write_reg(AK8963REG_CNTL1, AK8963_CONTINUOUS_MODE2 | AK8963_16BIT_ADC);
if(_interface == NULL) {
if (_interface == NULL) {
/* Configure mpu to internally read ak8963 data */
set_passthrough(AK8963REG_ST1, sizeof(struct ak8963_regs));
}

33
src/drivers/mpu9250/mag.h
View File

@ -33,6 +33,39 @@
#pragma once
/* in 16-bit sampling mode the mag resolution is 1.5 milli Gauss per bit */
#define MPU9250_MAG_RANGE_GA 1.5e-3f;
/* we are using the continuous fixed sampling rate of 100Hz */
#define MPU9250_AK8963_SAMPLE_RATE 100
/* ak8963 register address and bit definitions */
#define AK8963_I2C_ADDR 0x0C
#define AK8963_DEVICE_ID 0x48
#define AK8963REG_WIA 0x00
#define AK8963REG_ST1 0x02
#define AK8963REG_HXL 0x03
#define AK8963REG_ASAX 0x10
#define AK8963REG_CNTL1 0x0A
#define AK8963REG_CNTL2 0x0B
#define AK8963_SINGLE_MEAS_MODE 0x01
#define AK8963_CONTINUOUS_MODE1 0x02
#define AK8963_CONTINUOUS_MODE2 0x06
#define AK8963_POWERDOWN_MODE 0x00
#define AK8963_SELFTEST_MODE 0x08
#define AK8963_FUZE_MODE 0x0F
#define AK8963_16BIT_ADC 0x10
#define AK8963_14BIT_ADC 0x00
#define AK8963_RESET 0x01
class MPU9250;
#pragma pack(push, 1)

14
src/drivers/mpu9250/mag_i2c.cpp
View File

@ -55,20 +55,12 @@
#include <drivers/drv_accel.h>
#include <drivers/drv_device.h>
#include "MPU9250.h"
#include "mpu9250.h"
#include "mag.h"
#include "board_config.h"
// TODO: This is redundant with mag.cpp
#define AK8963_I2C_ADDR 0x0C
#define ADDR_ID 0x00
#define ID_WHO_AM_I 0x48
#ifdef USE_I2C
device::Device *AK8963_I2C_interface(int bus, bool external_bus);
@ -163,9 +155,9 @@ int
AK8963_I2C::probe()
{
uint8_t whoami = 0;
uint8_t expected = ID_WHO_AM_I;
uint8_t expected = AK8963_DEVICE_ID;
if (read(ADDR_ID, &whoami, 1)) {
if (read(AK8963REG_WIA, &whoami, 1)) {
return -EIO;
}

7
src/drivers/mpu9250/main.cpp
View File

@ -69,8 +69,6 @@
#include <mathlib/math/filter/LowPassFilter2p.hpp>
#include <lib/conversion/rotation.h>
#include "mag.h"
#include "gyro.h"
#include "mpu9250.h"
#define MPU_DEVICE_PATH_ACCEL "/dev/mpu9250_accel"
@ -125,7 +123,7 @@ struct mpu9250_bus_option {
{ MPU9250_BUS_SPI_INTERNAL, MPU_DEVICE_PATH_ACCEL, MPU_DEVICE_PATH_GYRO, MPU_DEVICE_PATH_MAG, &MPU9250_SPI_interface, true, PX4_SPI_BUS_SENSORS, NULL },
#endif
#if defined(PX4_SPI_BUS_EXT)
{ MPU9250_BUS_SPI_EXTERNAL, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, MPU_DEVICE_PATH_MAG_EXT &MPU9250_SPI_interface, true, PX4_SPI_BUS_EXT, NULL },
{ MPU9250_BUS_SPI_EXTERNAL, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, MPU_DEVICE_PATH_MAG_EXT, &MPU9250_SPI_interface, true, PX4_SPI_BUS_EXT, NULL },
#endif
};
@ -189,9 +187,11 @@ start_bus(struct mpu9250_bus_option &bus, enum Rotation rotation, bool external)
#ifdef USE_I2C
/* For i2c interfaces, connect to the magnetomer directly */
bool is_i2c = bus.busid == MPU9250_BUS_I2C_INTERNAL || bus.busid == MPU9250_BUS_I2C_EXTERNAL;
if (is_i2c) {
mag_interface = AK8963_I2C_interface(bus.busnum, external);
}
#endif
bus.dev = new MPU9250(interface, mag_interface, bus.accelpath, bus.gyropath, bus.magpath, rotation);
@ -494,7 +494,6 @@ mpu9250_main(int argc, char *argv[])
int ch;
bool external = false;
enum Rotation rotation = ROTATION_NONE;
//int accel_range = 8;
/* jump over start/off/etc and look at options first */
while ((ch = getopt(argc, argv, "XISsR:")) != EOF) {

40
src/drivers/mpu9250/mpu9250.cpp
View File

@ -109,7 +109,8 @@ const uint8_t MPU9250::_checked_registers[MPU9250_NUM_CHECKED_REGISTERS] = { MPU
};
MPU9250::MPU9250(device::Device *interface, device::Device *mag_interface, const char *path_accel, const char *path_gyro, const char *path_mag,
MPU9250::MPU9250(device::Device *interface, device::Device *mag_interface, const char *path_accel,
const char *path_gyro, const char *path_mag,
enum Rotation rotation) :
CDev("MPU9250", path_accel),
_interface(interface),
@ -122,7 +123,7 @@ MPU9250::MPU9250(device::Device *interface, device::Device *mag_interface, const
#else
_use_hrt(true),
#endif
_call{},
_call {},
_call_interval(0),
_accel_reports(nullptr),
_accel_scale{},
@ -195,7 +196,9 @@ MPU9250::MPU9250(device::Device *interface, device::Device *mag_interface, const
_gyro_scale.z_scale = 1.0f;
memset(&_call, 0, sizeof(_call));
#if defined(USE_I2C)
memset(&_work, 0, sizeof(_work));
#endif
}
MPU9250::~MPU9250()
@ -305,11 +308,14 @@ MPU9250::init()
return ret;
}
#ifdef USE_I2C
if (!_mag->is_passthrough() && _mag->_interface->init() != OK) {
warnx("failed to setup ak8963 interface");
}
#endif
/* do CDev init for the mag device node, keep it optional */
ret = _mag->init();
@ -390,7 +396,15 @@ int MPU9250::reset()
// INT CFG => Interrupt on Data Ready
write_checked_reg(MPUREG_INT_ENABLE, BIT_RAW_RDY_EN); // INT: Raw data ready
usleep(1000);
write_checked_reg(MPUREG_INT_PIN_CFG, BIT_INT_ANYRD_2CLEAR | (_mag->is_passthrough()? 0 : BIT_INT_BYPASS_EN)); // INT: Clear on any read, also use i2c bypass is master mode isn't needed
#ifdef USE_I2C
bool bypass = !_mag->is_passthrough();
#else
bool bypass = false;
#endif
write_checked_reg(MPUREG_INT_PIN_CFG,
BIT_INT_ANYRD_2CLEAR | (bypass ? BIT_INT_BYPASS_EN :
0)); // INT: Clear on any read, also use i2c bypass is master mode isn't needed
usleep(1000);
write_checked_reg(MPUREG_ACCEL_CONFIG2, BITS_ACCEL_CONFIG2_41HZ);
@ -1018,7 +1032,7 @@ MPU9250::write_checked_reg(unsigned reg, uint8_t value)
if (reg == _checked_registers[i]) {
_checked_values[i] = value;
_checked_bad[i] = value;
break; // TODO: Assumes no duplicates
break;
}
}
}
@ -1075,6 +1089,7 @@ MPU9250::start()
1000,
_call_interval - MPU9250_TIMER_REDUCTION,
(hrt_callout)&MPU9250::measure_trampoline, this);;
} else {
#ifdef USE_I2C
/* schedule a cycle to start things */
@ -1267,15 +1282,12 @@ MPU9250::measure()
/* start measuring */
perf_begin(_sample_perf);
// TODO: Don't fetch magnetometer data if it isn't being managed
// In that case, trigger a magnetometer read
/*
* Fetch the full set of measurements from the MPU9250 in one pass.
*/
if (OK != _interface->read(MPU9250_SET_SPEED(MPUREG_INT_STATUS, MPU9250_HIGH_BUS_SPEED),
(uint8_t *)&mpu_report,
sizeof(mpu_report))) {
(uint8_t *)&mpu_report,
sizeof(mpu_report))) {
return;
}
@ -1285,13 +1297,19 @@ MPU9250::measure()
return;
}
#ifdef USE_I2C
if (_mag->is_passthrough()) {
#endif
_mag->_measure(mpu_report.mag);
}
else {
#ifdef USE_I2C
} else {
_mag->measure();
}
#endif
/*
* Convert from big to little endian
*/

58
src/drivers/mpu9250/mpu9250.h
View File

@ -31,37 +31,16 @@
*
****************************************************************************/
#pragma once
// TODO: All these includes are from main.cpp
#include <px4_config.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <stdlib.h>
#include <fcntl.h>
#include <errno.h>
#include <stdio.h>
#include <getopt.h>
#include <systemlib/perf_counter.h>
#include <systemlib/err.h>
#include <systemlib/conversions.h>
// TODO: These three are new
#include <nuttx/arch.h>
#include <nuttx/wqueue.h>
#include <nuttx/clock.h>
#include <board_config.h>
#include <drivers/drv_hrt.h>
#include <drivers/device/spi.h>
#include <drivers/device/i2c.h>
#include <drivers/device/ringbuffer.h>
#include <drivers/device/integrator.h>
#include <drivers/drv_accel.h>
@ -79,8 +58,6 @@
# define USE_I2C
#endif
#define DIR_READ 0x80
#define DIR_WRITE 0x00
// MPU 9250 registers
#define MPUREG_WHOAMI 0x75
@ -143,7 +120,7 @@
#define MPUREG_FIFO_COUNTL 0x73
#define MPUREG_FIFO_R_W 0x74
// Configuration bits MPU 9250
// Configuration bits MPU 9250
#define BIT_SLEEP 0x40
#define BIT_H_RESET 0x80
#define MPU_CLK_SEL_AUTO 0x01
@ -173,6 +150,33 @@
#define BIT_INT_ANYRD_2CLEAR 0x10
#define BIT_INT_BYPASS_EN 0x02
#define BIT_I2C_READ_FLAG 0x80
#define BIT_I2C_SLV0_NACK 0x01
#define BIT_I2C_FIFO_EN 0x40
#define BIT_I2C_MST_EN 0x20
#define BIT_I2C_IF_DIS 0x10
#define BIT_FIFO_RST 0x04
#define BIT_I2C_MST_RST 0x02
#define BIT_SIG_COND_RST 0x01
#define BIT_I2C_SLV0_EN 0x80
#define BIT_I2C_SLV0_BYTE_SW 0x40
#define BIT_I2C_SLV0_REG_DIS 0x20
#define BIT_I2C_SLV0_REG_GRP 0x10
#define BIT_I2C_MST_MULT_MST_EN 0x80
#define BIT_I2C_MST_WAIT_FOR_ES 0x40
#define BIT_I2C_MST_SLV_3_FIFO_EN 0x20
#define BIT_I2C_MST_P_NSR 0x10
#define BITS_I2C_MST_CLOCK_258HZ 0x08
#define BITS_I2C_MST_CLOCK_400HZ 0x0D
#define BIT_I2C_SLV0_DLY_EN 0x01
#define BIT_I2C_SLV1_DLY_EN 0x02
#define BIT_I2C_SLV2_DLY_EN 0x04
#define BIT_I2C_SLV3_DLY_EN 0x08
#define MPU_WHOAMI_9250 0x71
#define MPU9250_ACCEL_DEFAULT_RATE 1000
@ -209,7 +213,6 @@ struct MPUReport {
};
#pragma pack(pop)
// TODO: Big enough?
#define MPU_MAX_WRITE_BUFFER_SIZE (2)
@ -244,7 +247,8 @@ class MPU9250_gyro;
class MPU9250 : public device::CDev
{
public:
MPU9250(device::Device *interface, device::Device *mag_interface, const char *path_accel, const char *path_gyro, const char *path_mag,
MPU9250(device::Device *interface, device::Device *mag_interface, const char *path_accel, const char *path_gyro,
const char *path_mag,
enum Rotation rotation);
virtual ~MPU9250();
@ -375,7 +379,7 @@ private:
/**
* When the I2C interfase is on
* Perform a poll cycle; collect from the previous measurement
* and start a new one.
* and start a new one.
*
* This is the heart of the measurement state machine. This function
* alternately starts a measurement, or collects the data from the

3
src/drivers/mpu9250/mpu9250_spi.cpp
View File

@ -58,7 +58,7 @@
#include <drivers/drv_accel.h>
#include <drivers/drv_device.h>
#include "MPU9250.h"
#include "mpu9250.h"
#include <board_config.h>
#define DIR_READ 0x80
@ -118,6 +118,7 @@ MPU9250_SPI_interface(int bus, bool external_bus)
#else
errx(0, "External SPI not available");
#endif
} else {
cs = (spi_dev_e) PX4_SPIDEV_MPU;
}

7
src/modules/mavlink/mavlink_main.cpp
View File

@ -642,6 +642,10 @@ int Mavlink::mavlink_open_uart(int baud, const char *uart_name)
#define B921600 921600
#endif
#ifndef B1000000
#define B1000000 1000000
#endif
/* process baud rate */
int speed;
@ -2630,6 +2634,3 @@ int mavlink_main(int argc, char *argv[])
return 0;
}

43
src/modules/screen/CMakeLists.txt
View File

@ -1,43 +0,0 @@
############################################################################
#
# Copyright (c) 2015 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.
#
############################################################################
px4_add_module(
MODULE modules__screen
MAIN screen
COMPILE_FLAGS
-Os
SRCS
screen.c
DEPENDS
platforms__common
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :

134
src/modules/screen/screen.c
View File

@ -1,134 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: Anton Babushkin <anton.babushkin@me.com>
*
* 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 screen.c
*
* Using screen to read serial ports.
*
* @author Tim Dyer <>
*/
#include <px4_defines.h>
#include <fcntl.h>
#include <stdio.h>
#include <sys/ioctl.h>
#include <systemlib/err.h>
#include <poll.h>
#include <termios.h>
__EXPORT int screen_main(int argc, char *argv[]);
int
open_uart(const char *device);
int screen_main(int argc, char *argv[])
{
int uart = open_uart("/dev/ttyS2");
//static const int timeout_ms = 1000;
for (;;)
{
char c;
ssize_t size = read(uart, &c, 1);
if (size)
{
printf("%c", c);
}
/*
struct pollfd fds;
fds.fd = uart;
fds.events = POLLIN;
char c;
if (poll(&fds, 1, timeout_ms) > 0) {
read(uart, &c, 1);
printf("%c", c);
} else {
warnx("UART timeout on TX/RX port");
//return ERROR;
}
*/
}
return OK;
}
int
open_uart(const char *device)
{
/* baud rate */
static const speed_t speed = B1000000;
/* open uart */
const int uart = open(device, O_RDWR | O_NOCTTY);
if (uart < 0) {
err(1, "ERR: opening %s", device);
}
/* Back up the original uart configuration to restore it after exit */
int termios_state;
struct termios uart_config_original;
if ((termios_state = tcgetattr(uart, &uart_config_original)) < 0) {
close(uart);
err(1, "ERR: %s: %d", device, termios_state);
}
/* Fill the struct for the new configuration */
struct termios uart_config;
tcgetattr(uart, &uart_config);
/* Clear ONLCR flag (which appends a CR for every LF) */
uart_config.c_oflag &= ~ONLCR;
/* Set baud rate */
if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
close(uart);
err(1, "ERR: %s: %d (cfsetispeed, cfsetospeed)",
device, termios_state);
}
if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
close(uart);
err(1, "ERR: %s (tcsetattr)", device);
}
return uart;
}