From 08e5ed5a1d630f840a838006bab6b1d1ae6aa6c1 Mon Sep 17 00:00:00 2001 From: ufoncz Date: Fri, 25 Apr 2014 21:14:12 +0200 Subject: [PATCH 01/28] added version nsh command, it can replace hw_ver sss --- makefiles/config_px4fmu-v2_default.mk | 1 + src/systemcmds/version/module.mk | 43 ++++++++ src/systemcmds/version/version.c | 138 ++++++++++++++++++++++++++ 3 files changed, 182 insertions(+) create mode 100644 src/systemcmds/version/module.mk create mode 100644 src/systemcmds/version/version.c diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk index e13421acc5..7ec6a2fc68 100644 --- a/makefiles/config_px4fmu-v2_default.mk +++ b/makefiles/config_px4fmu-v2_default.mk @@ -65,6 +65,7 @@ MODULES += systemcmds/nshterm MODULES += systemcmds/mtd MODULES += systemcmds/hw_ver MODULES += systemcmds/dumpfile +MODULES += systemcmds/version # # General system control diff --git a/src/systemcmds/version/module.mk b/src/systemcmds/version/module.mk new file mode 100644 index 0000000000..3dac09239a --- /dev/null +++ b/src/systemcmds/version/module.mk @@ -0,0 +1,43 @@ +############################################################################ +# +# Copyright (c) 2014 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. +# +############################################################################ + +# +# Show and test hardware version +# + +MODULE_COMMAND = version +SRCS = version.c + +MODULE_STACKSIZE = 1024 + +MAXOPTIMIZATION = -Os diff --git a/src/systemcmds/version/version.c b/src/systemcmds/version/version.c new file mode 100644 index 0000000000..38730b10dc --- /dev/null +++ b/src/systemcmds/version/version.c @@ -0,0 +1,138 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Vladimir Kulla + * + * 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 version.c + * + * Version nsh command, unified way of showing versions of HW, SW, Build, Toolchain etc + */ + +#include + +#include +#include +#include +#include + +__EXPORT int version_main(int argc, char *argv[]); + +static void usage(const char *reason) +{ + if (reason != NULL) { + fprintf(stderr, "%s\n", reason); + } + + fprintf(stderr, "usage: version {hw|git|date|gcc|all}\n\n"); +} + +static void version_githash(int bShowPrefix) +{ + if (bShowPrefix == 1) { + printf("FW git-hash:"); + } + printf("%s\n", FW_GIT); +} + +static void version_hwarch(int bShowPrefix) +{ + if (bShowPrefix == 1) { + printf("HW arch: "); + } + printf("%s\n", HW_ARCH); +} + +static void version_date(int bShowPrefix) +{ + if (bShowPrefix == 1) { + printf("Build date: "); + } + printf("%s %s\n", __DATE__, __TIME__); +} + +static void version_gcc(int bShowPrefix) +{ + if (bShowPrefix == 1) { + printf("GCC used: "); + //printf("Built with GCC : %d.%d.%d\n", __GNUC__, __GNUC_MINOR__, __GNUC_PATCHLEVEL__); + } + printf("%s\n", __VERSION__); +} +static char sz_ver_hw_str[] = "hw"; + +int version_main(int argc, char *argv[]) +{ + if (argc >= 2) + { + if (argv[1] != NULL) + { + if (!strncmp(argv[1], sz_ver_hw_str, strlen(sz_ver_hw_str))) + { + version_hwarch(0); + } + else if (!strncmp(argv[1], "git", 3)) + { + version_githash(0); + } + else if (!strncmp(argv[1], "date", 3)) + { + version_date(0); + } + else if (!strncmp(argv[1], "gcc", 3)) + { + version_gcc(0); + } + else if (!strncmp(argv[1], "all", 3)) + { + printf("Pixhawk version info\n"); + version_hwarch(1); + version_date(1); + version_githash(1); + version_gcc(1); + } + else + { + printf("unknown command: %s\n", argv[1]); + } + } + else + { + usage("Error, input parameter NULL.\n"); + } + } + else + { + usage("Error, not enough parameters."); + } + return OK; +} From fd95adc710cd04855b8f7c2abaf73d9220cd497e Mon Sep 17 00:00:00 2001 From: ufoncz Date: Fri, 25 Apr 2014 21:34:45 +0200 Subject: [PATCH 02/28] corrections before xmerge --- src/systemcmds/version/version.c | 18 ++++++++++++------ 1 file changed, 12 insertions(+), 6 deletions(-) diff --git a/src/systemcmds/version/version.c b/src/systemcmds/version/version.c index 38730b10dc..37a51dbfc0 100644 --- a/src/systemcmds/version/version.c +++ b/src/systemcmds/version/version.c @@ -45,6 +45,13 @@ #include #include +static char sz_ver_hw_str[] = "hw"; +static char sz_ver_git_str[] = "git"; +static char sz_ver_date_str[] = "date"; +static char sz_ver_gcc_str[] = "gcc"; +static char sz_ver_all_str[] = "all"; + + __EXPORT int version_main(int argc, char *argv[]); static void usage(const char *reason) @@ -59,7 +66,7 @@ static void usage(const char *reason) static void version_githash(int bShowPrefix) { if (bShowPrefix == 1) { - printf("FW git-hash:"); + printf("FW git-hash: "); } printf("%s\n", FW_GIT); } @@ -88,7 +95,6 @@ static void version_gcc(int bShowPrefix) } printf("%s\n", __VERSION__); } -static char sz_ver_hw_str[] = "hw"; int version_main(int argc, char *argv[]) { @@ -100,19 +106,19 @@ int version_main(int argc, char *argv[]) { version_hwarch(0); } - else if (!strncmp(argv[1], "git", 3)) + else if (!strncmp(argv[1], sz_ver_git_str, strlen(sz_ver_git_str))) { version_githash(0); } - else if (!strncmp(argv[1], "date", 3)) + else if (!strncmp(argv[1], sz_ver_date_str, strlen(sz_ver_date_str))) { version_date(0); } - else if (!strncmp(argv[1], "gcc", 3)) + else if (!strncmp(argv[1], sz_ver_gcc_str, strlen(sz_ver_gcc_str))) { version_gcc(0); } - else if (!strncmp(argv[1], "all", 3)) + else if (!strncmp(argv[1], sz_ver_all_str, strlen(sz_ver_all_str))) { printf("Pixhawk version info\n"); version_hwarch(1); From eff15ef3f15d3fc5692b06c0669f1b758e8d744b Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 26 Apr 2014 16:08:40 +0200 Subject: [PATCH 03/28] Fix what is looking like a missing cast in CMSIS - the cast within the line would make only halfway sense if this was actually intended as double precision operation --- src/lib/mathlib/CMSIS/Include/arm_math.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/lib/mathlib/CMSIS/Include/arm_math.h b/src/lib/mathlib/CMSIS/Include/arm_math.h index 6f66f9ee3e..61d3a3b61f 100644 --- a/src/lib/mathlib/CMSIS/Include/arm_math.h +++ b/src/lib/mathlib/CMSIS/Include/arm_math.h @@ -5193,7 +5193,7 @@ void arm_rfft_fast_f32( *pIa = Ialpha; /* Calculating pIb from Ialpha and Ibeta by equation pIb = -(1/2) * Ialpha + (sqrt(3)/2) * Ibeta */ - *pIb = -0.5 * Ialpha + (float32_t) 0.8660254039 *Ibeta; + *pIb = (float32_t)-0.5 * Ialpha + (float32_t) 0.8660254039 *Ibeta; } From 5ea1105451330aa55e0c331b99ba2ab60e6f8c15 Mon Sep 17 00:00:00 2001 From: ufoncz Date: Sun, 27 Apr 2014 15:12:05 +0200 Subject: [PATCH 04/28] changed dir from version to ver to keep it shorter added "hw_ver compare" as command option so we can replace hw_ver in future --- makefiles/config_px4fmu-v1_default.mk | 1 + makefiles/config_px4fmu-v2_default.mk | 2 +- src/systemcmds/{version => ver}/module.mk | 7 +- src/systemcmds/ver/ver.c | 175 ++++++++++++++++++++++ src/systemcmds/ver/ver.h | 64 ++++++++ src/systemcmds/version/version.c | 144 ------------------ 6 files changed, 245 insertions(+), 148 deletions(-) rename src/systemcmds/{version => ver}/module.mk (90%) create mode 100644 src/systemcmds/ver/ver.c create mode 100644 src/systemcmds/ver/ver.h delete mode 100644 src/systemcmds/version/version.c diff --git a/makefiles/config_px4fmu-v1_default.mk b/makefiles/config_px4fmu-v1_default.mk index 532e978d04..20e7ab3312 100644 --- a/makefiles/config_px4fmu-v1_default.mk +++ b/makefiles/config_px4fmu-v1_default.mk @@ -57,6 +57,7 @@ MODULES += systemcmds/config MODULES += systemcmds/nshterm MODULES += systemcmds/hw_ver MODULES += systemcmds/dumpfile +MODULES += systemcmds/ver # # General system control diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk index 7ec6a2fc68..bbb754eb08 100644 --- a/makefiles/config_px4fmu-v2_default.mk +++ b/makefiles/config_px4fmu-v2_default.mk @@ -65,7 +65,7 @@ MODULES += systemcmds/nshterm MODULES += systemcmds/mtd MODULES += systemcmds/hw_ver MODULES += systemcmds/dumpfile -MODULES += systemcmds/version +MODULES += systemcmds/ver # # General system control diff --git a/src/systemcmds/version/module.mk b/src/systemcmds/ver/module.mk similarity index 90% rename from src/systemcmds/version/module.mk rename to src/systemcmds/ver/module.mk index 3dac09239a..2eeb80b616 100644 --- a/src/systemcmds/version/module.mk +++ b/src/systemcmds/ver/module.mk @@ -32,11 +32,12 @@ ############################################################################ # -# Show and test hardware version +# "version" nsh-command displays version infromation for hw,sw, gcc,build etc +# can be also included and used in own code via "ver.h" # -MODULE_COMMAND = version -SRCS = version.c +MODULE_COMMAND = ver +SRCS = ver.c MODULE_STACKSIZE = 1024 diff --git a/src/systemcmds/ver/ver.c b/src/systemcmds/ver/ver.c new file mode 100644 index 0000000000..f44fd1afe1 --- /dev/null +++ b/src/systemcmds/ver/ver.c @@ -0,0 +1,175 @@ +/**************************************************************************** +* +* Copyright (c) 2012-2014 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 ver.c +* +* Version command, unifies way of showing versions of HW, SW, Build, gcc +* In case you want to add new version just extend version_main function +* +* External use of the version functions is possible, include "vercmd.h" +* and use functions from header with prefix ver_ +* +* @author Vladimir Kulla +*/ + +#include +#include +#include +#include +#include + +#include "ver.h" + +// string constants for version commands +static const char sz_ver_hw_str[] = "hw"; +static const char sz_ver_hwcmp_str[]= "hwcmp"; +static const char sz_ver_git_str[] = "git"; +static const char sz_ver_date_str[] = "date"; +static const char sz_ver_gcc_str[] = "gcc"; +static const char sz_ver_all_str[] = "all"; + +static void usage(const char *reason) +{ + if (reason != NULL) { + printf("%s\n", reason); + } + + printf("usage: version {hw|hwcmp|git|date|gcc|all}\n\n"); +} + +void ver_githash(int bShowPrefix) +{ + if (bShowPrefix == 1) { + printf("FW git-hash: "); + } + printf("%s\n", FW_GIT); +} + +void ver_hwarch(int bShowPrefix) +{ + if (bShowPrefix == 1) { + printf("HW arch: "); + } + printf("%s\n", HW_ARCH); +} + +void ver_date(int bShowPrefix) +{ + if (bShowPrefix == 1) { + printf("Build date: "); + } + printf("%s %s\n", __DATE__, __TIME__); +} + +void ver_gcclong(int bShowPrefix) +{ + if (bShowPrefix == 1) { + printf("GCC used (long): "); + //printf("Built with GCC : %d.%d.%d\n", __GNUC__, __GNUC_MINOR__, __GNUC_PATCHLEVEL__); + } + printf("%s\n", __VERSION__); +} + +void ver_gccshort(int bShowPrefix) +{ + if (bShowPrefix == 1) { + printf("GCC used (short): "); + + } + printf("%d.%d.%d\n", __GNUC__, __GNUC_MINOR__, __GNUC_PATCHLEVEL__); +} + +int ver_gccnum() +{ + return (__GNUC__ * 1000) + (__GNUC_MINOR__ * 100) + __GNUC_PATCHLEVEL__; +} + +__EXPORT int ver_main(int argc, char *argv[]); + +int ver_main(int argc, char *argv[]) +{ + int ret = 1; //defaults to an error + + // first check if there are at least 2 params + if (argc >= 2) { + if (argv[1] != NULL) { + if (!strncmp(argv[1], sz_ver_hw_str, strlen(sz_ver_hw_str))) { + ver_hwarch(0); + ret = 0; + } + else if (!strncmp(argv[1], sz_ver_hwcmp_str, strlen(sz_ver_hwcmp_str))) { + if (argc >= 3 && argv[2] != NULL) { + // compare 3rd parameter with HW_ARCH string, in case of match, return 0 + ret = strcmp(HW_ARCH, argv[2]) != 0; + if (ret == 0) { + printf("hw_ver match: %s\n", HW_ARCH); + } + } else { + errx(1, "not enough arguments, try 'version hwcmp PX4FMU_1'"); + } + } + else if (!strncmp(argv[1], sz_ver_git_str, strlen(sz_ver_git_str))) { + ver_githash(0); + ret = 0; + } + else if (!strncmp(argv[1], sz_ver_date_str, strlen(sz_ver_date_str))) { + ver_date(0); + ret = 0; + } + else if (!strncmp(argv[1], sz_ver_gcc_str, strlen(sz_ver_gcc_str))) { + ver_gcclong(0); + ret = 0; + } + else if (!strncmp(argv[1], sz_ver_all_str, strlen(sz_ver_all_str))) { + printf("Pixhawk version info\n"); + ver_hwarch(1); + ver_date(1); + ver_githash(1); + ver_gcclong(1); + ret = 0; + } + else { + errx(1, "unknown command.\n"); + } + } + else { + usage("Error, input parameter NULL.\n"); + } + } + else { + usage("Error, not enough parameters."); + } + + return ret; +} diff --git a/src/systemcmds/ver/ver.h b/src/systemcmds/ver/ver.h new file mode 100644 index 0000000000..3de308c05c --- /dev/null +++ b/src/systemcmds/ver/ver.h @@ -0,0 +1,64 @@ +/**************************************************************************** +* +* Copyright (c) 2012-2014 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 vercmd.h +* +* Version command, unifies way of showing versions of hW, sW, build, gcc +* Mainly used from nsh-console, shall replace also hw_arch command +* +* External use: possible, include "vercmd.h" and use "ver_xx" functions +* +* Extension: possible, just add new else-if to version_main function +* +* @author Vladimir Kulla +*/ + +#ifndef VERCMD_H_ +#define VERCMD_H_ + + +void ver_githash(int bShowPrefix); + +void ver_hwarch(int bShowPrefix); + +void ver_date(int bShowPrefix); + +void ver_gcclong(int bShowPrefix); +void ver_gccshort(int bShowPrefix); +int ver_gccnum(); + + + + +#endif /* VERCMD_H_ */ diff --git a/src/systemcmds/version/version.c b/src/systemcmds/version/version.c deleted file mode 100644 index 37a51dbfc0..0000000000 --- a/src/systemcmds/version/version.c +++ /dev/null @@ -1,144 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Vladimir Kulla - * - * 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 version.c - * - * Version nsh command, unified way of showing versions of HW, SW, Build, Toolchain etc - */ - -#include - -#include -#include -#include -#include - -static char sz_ver_hw_str[] = "hw"; -static char sz_ver_git_str[] = "git"; -static char sz_ver_date_str[] = "date"; -static char sz_ver_gcc_str[] = "gcc"; -static char sz_ver_all_str[] = "all"; - - -__EXPORT int version_main(int argc, char *argv[]); - -static void usage(const char *reason) -{ - if (reason != NULL) { - fprintf(stderr, "%s\n", reason); - } - - fprintf(stderr, "usage: version {hw|git|date|gcc|all}\n\n"); -} - -static void version_githash(int bShowPrefix) -{ - if (bShowPrefix == 1) { - printf("FW git-hash: "); - } - printf("%s\n", FW_GIT); -} - -static void version_hwarch(int bShowPrefix) -{ - if (bShowPrefix == 1) { - printf("HW arch: "); - } - printf("%s\n", HW_ARCH); -} - -static void version_date(int bShowPrefix) -{ - if (bShowPrefix == 1) { - printf("Build date: "); - } - printf("%s %s\n", __DATE__, __TIME__); -} - -static void version_gcc(int bShowPrefix) -{ - if (bShowPrefix == 1) { - printf("GCC used: "); - //printf("Built with GCC : %d.%d.%d\n", __GNUC__, __GNUC_MINOR__, __GNUC_PATCHLEVEL__); - } - printf("%s\n", __VERSION__); -} - -int version_main(int argc, char *argv[]) -{ - if (argc >= 2) - { - if (argv[1] != NULL) - { - if (!strncmp(argv[1], sz_ver_hw_str, strlen(sz_ver_hw_str))) - { - version_hwarch(0); - } - else if (!strncmp(argv[1], sz_ver_git_str, strlen(sz_ver_git_str))) - { - version_githash(0); - } - else if (!strncmp(argv[1], sz_ver_date_str, strlen(sz_ver_date_str))) - { - version_date(0); - } - else if (!strncmp(argv[1], sz_ver_gcc_str, strlen(sz_ver_gcc_str))) - { - version_gcc(0); - } - else if (!strncmp(argv[1], sz_ver_all_str, strlen(sz_ver_all_str))) - { - printf("Pixhawk version info\n"); - version_hwarch(1); - version_date(1); - version_githash(1); - version_gcc(1); - } - else - { - printf("unknown command: %s\n", argv[1]); - } - } - else - { - usage("Error, input parameter NULL.\n"); - } - } - else - { - usage("Error, not enough parameters."); - } - return OK; -} From bd5a0cef1aad42f8deb1d58e573631436630246e Mon Sep 17 00:00:00 2001 From: ufoncz Date: Sun, 27 Apr 2014 17:42:45 +0200 Subject: [PATCH 05/28] ver command ready including hwcmp which replaces hw_ver, removed hw_ver updated all scripts to use new ver hwcmp command q --- ROMFS/px4fmu_common/init.d/rc.io | 2 +- ROMFS/px4fmu_common/init.d/rc.logging | 2 +- ROMFS/px4fmu_common/init.d/rc.sensors | 2 +- ROMFS/px4fmu_common/init.d/rcS | 8 +-- makefiles/config_px4fmu-v1_default.mk | 1 - makefiles/config_px4fmu-v2_default.mk | 1 - makefiles/config_px4fmu-v2_test.mk | 2 +- src/systemcmds/hw_ver/hw_ver.c | 73 --------------------------- src/systemcmds/hw_ver/module.mk | 43 ---------------- src/systemcmds/ver/ver.c | 64 ++++++++--------------- src/systemcmds/ver/ver.h | 64 ----------------------- 11 files changed, 29 insertions(+), 233 deletions(-) delete mode 100644 src/systemcmds/hw_ver/hw_ver.c delete mode 100644 src/systemcmds/hw_ver/module.mk delete mode 100644 src/systemcmds/ver/ver.h diff --git a/ROMFS/px4fmu_common/init.d/rc.io b/ROMFS/px4fmu_common/init.d/rc.io index 6e8fdbc0f7..e23aebd87f 100644 --- a/ROMFS/px4fmu_common/init.d/rc.io +++ b/ROMFS/px4fmu_common/init.d/rc.io @@ -11,7 +11,7 @@ px4io recovery # Adjust PX4IO update rate limit # set PX4IO_LIMIT 400 -if hw_ver compare PX4FMU_V1 +if ver hwcmp PX4FMU_V1 then set PX4IO_LIMIT 200 fi diff --git a/ROMFS/px4fmu_common/init.d/rc.logging b/ROMFS/px4fmu_common/init.d/rc.logging index c5aef8273c..3469d5f5f5 100644 --- a/ROMFS/px4fmu_common/init.d/rc.logging +++ b/ROMFS/px4fmu_common/init.d/rc.logging @@ -5,7 +5,7 @@ if [ -d /fs/microsd ] then - if hw_ver compare PX4FMU_V1 + if ver hwcmp PX4FMU_V1 then echo "Start sdlog2 at 50Hz" sdlog2 start -r 50 -a -b 8 -t diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors index 235be24316..1e14930fe3 100644 --- a/ROMFS/px4fmu_common/init.d/rc.sensors +++ b/ROMFS/px4fmu_common/init.d/rc.sensors @@ -22,7 +22,7 @@ then echo "[init] Using L3GD20(H)" fi -if hw_ver compare PX4FMU_V2 +if ver hwcmp PX4FMU_V2 then if lsm303d start then diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index ea5cf8deb7..3fb5fb7333 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -246,7 +246,7 @@ then echo "[init] ERROR: PX4IO not found, disabling output" # Avoid using ttyS0 for MAVLink on FMUv1 - if hw_ver compare PX4FMU_V1 + if ver hwcmp PX4FMU_V1 then set FMU_MODE serial fi @@ -260,7 +260,7 @@ then if [ $HIL == yes ] then set OUTPUT_MODE hil - if hw_ver compare PX4FMU_V1 + if ver hwcmp PX4FMU_V1 then set FMU_MODE serial fi @@ -306,7 +306,7 @@ then tone_alarm $TUNE_OUT_ERROR fi - if hw_ver compare PX4FMU_V1 + if ver hwcmp PX4FMU_V1 then if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ] then @@ -381,7 +381,7 @@ then tone_alarm $TUNE_OUT_ERROR fi - if hw_ver compare PX4FMU_V1 + if ver hwcmp PX4FMU_V1 then if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ] then diff --git a/makefiles/config_px4fmu-v1_default.mk b/makefiles/config_px4fmu-v1_default.mk index 20e7ab3312..61a417f308 100644 --- a/makefiles/config_px4fmu-v1_default.mk +++ b/makefiles/config_px4fmu-v1_default.mk @@ -55,7 +55,6 @@ MODULES += systemcmds/top MODULES += systemcmds/tests MODULES += systemcmds/config MODULES += systemcmds/nshterm -MODULES += systemcmds/hw_ver MODULES += systemcmds/dumpfile MODULES += systemcmds/ver diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk index bbb754eb08..65ca24325c 100644 --- a/makefiles/config_px4fmu-v2_default.mk +++ b/makefiles/config_px4fmu-v2_default.mk @@ -63,7 +63,6 @@ MODULES += systemcmds/tests MODULES += systemcmds/config MODULES += systemcmds/nshterm MODULES += systemcmds/mtd -MODULES += systemcmds/hw_ver MODULES += systemcmds/dumpfile MODULES += systemcmds/ver diff --git a/makefiles/config_px4fmu-v2_test.mk b/makefiles/config_px4fmu-v2_test.mk index 79922374d7..84274bf754 100644 --- a/makefiles/config_px4fmu-v2_test.mk +++ b/makefiles/config_px4fmu-v2_test.mk @@ -29,7 +29,7 @@ MODULES += systemcmds/reboot MODULES += systemcmds/tests MODULES += systemcmds/nshterm MODULES += systemcmds/mtd -MODULES += systemcmds/hw_ver +MODULES += systemcmds/ver # # Library modules diff --git a/src/systemcmds/hw_ver/hw_ver.c b/src/systemcmds/hw_ver/hw_ver.c deleted file mode 100644 index 4b84523cc1..0000000000 --- a/src/systemcmds/hw_ver/hw_ver.c +++ /dev/null @@ -1,73 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2014 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 hw_ver.c - * - * Show and test hardware version. - */ - -#include - -#include -#include -#include -#include - -__EXPORT int hw_ver_main(int argc, char *argv[]); - -int -hw_ver_main(int argc, char *argv[]) -{ - if (argc >= 2) { - if (!strcmp(argv[1], "show")) { - printf(HW_ARCH "\n"); - exit(0); - } - - if (!strcmp(argv[1], "compare")) { - if (argc >= 3) { - int ret = strcmp(HW_ARCH, argv[2]) != 0; - if (ret == 0) { - printf("hw_ver match: %s\n", HW_ARCH); - } - exit(ret); - - } else { - errx(1, "not enough arguments, try 'compare PX4FMU_1'"); - } - } - } - - errx(1, "expected a command, try 'show' or 'compare'"); -} diff --git a/src/systemcmds/hw_ver/module.mk b/src/systemcmds/hw_ver/module.mk deleted file mode 100644 index 3cc08b6a1a..0000000000 --- a/src/systemcmds/hw_ver/module.mk +++ /dev/null @@ -1,43 +0,0 @@ -############################################################################ -# -# Copyright (c) 2014 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. -# -############################################################################ - -# -# Show and test hardware version -# - -MODULE_COMMAND = hw_ver -SRCS = hw_ver.c - -MODULE_STACKSIZE = 1024 - -MAXOPTIMIZATION = -Os diff --git a/src/systemcmds/ver/ver.c b/src/systemcmds/ver/ver.c index f44fd1afe1..c932bc1624 100644 --- a/src/systemcmds/ver/ver.c +++ b/src/systemcmds/ver/ver.c @@ -34,28 +34,22 @@ /** * @file ver.c * -* Version command, unifies way of showing versions of HW, SW, Build, gcc +* Version command, unifies way of showing versions of HW, SW, Build, GCC * In case you want to add new version just extend version_main function * -* External use of the version functions is possible, include "vercmd.h" -* and use functions from header with prefix ver_ -* * @author Vladimir Kulla */ -#include #include #include -#include #include - -#include "ver.h" +#include // string constants for version commands static const char sz_ver_hw_str[] = "hw"; static const char sz_ver_hwcmp_str[]= "hwcmp"; static const char sz_ver_git_str[] = "git"; -static const char sz_ver_date_str[] = "date"; +static const char sz_ver_bdate_str[] = "bdate"; static const char sz_ver_gcc_str[] = "gcc"; static const char sz_ver_all_str[] = "all"; @@ -65,10 +59,10 @@ static void usage(const char *reason) printf("%s\n", reason); } - printf("usage: version {hw|hwcmp|git|date|gcc|all}\n\n"); + printf("usage: ver {hw|hwcmp|git|bdate|gcc|all}\n\n"); } -void ver_githash(int bShowPrefix) +static void ver_githash(int bShowPrefix) { if (bShowPrefix == 1) { printf("FW git-hash: "); @@ -76,7 +70,7 @@ void ver_githash(int bShowPrefix) printf("%s\n", FW_GIT); } -void ver_hwarch(int bShowPrefix) +static void ver_hwarch(int bShowPrefix) { if (bShowPrefix == 1) { printf("HW arch: "); @@ -84,37 +78,22 @@ void ver_hwarch(int bShowPrefix) printf("%s\n", HW_ARCH); } -void ver_date(int bShowPrefix) +static void ver_bdate(int bShowPrefix) { if (bShowPrefix == 1) { - printf("Build date: "); + printf("Build datetime: "); } printf("%s %s\n", __DATE__, __TIME__); } -void ver_gcclong(int bShowPrefix) +static void ver_gcclong(int bShowPrefix) { if (bShowPrefix == 1) { - printf("GCC used (long): "); - //printf("Built with GCC : %d.%d.%d\n", __GNUC__, __GNUC_MINOR__, __GNUC_PATCHLEVEL__); + printf("GCC toolchain: "); } printf("%s\n", __VERSION__); } -void ver_gccshort(int bShowPrefix) -{ - if (bShowPrefix == 1) { - printf("GCC used (short): "); - - } - printf("%d.%d.%d\n", __GNUC__, __GNUC_MINOR__, __GNUC_PATCHLEVEL__); -} - -int ver_gccnum() -{ - return (__GNUC__ * 1000) + (__GNUC_MINOR__ * 100) + __GNUC_PATCHLEVEL__; -} - __EXPORT int ver_main(int argc, char *argv[]); int ver_main(int argc, char *argv[]) @@ -124,37 +103,36 @@ int ver_main(int argc, char *argv[]) // first check if there are at least 2 params if (argc >= 2) { if (argv[1] != NULL) { - if (!strncmp(argv[1], sz_ver_hw_str, strlen(sz_ver_hw_str))) { + if (!strncmp(argv[1], sz_ver_hw_str, sizeof(sz_ver_hw_str))) { ver_hwarch(0); ret = 0; } - else if (!strncmp(argv[1], sz_ver_hwcmp_str, strlen(sz_ver_hwcmp_str))) { + else if (!strncmp(argv[1], sz_ver_hwcmp_str, sizeof(sz_ver_hwcmp_str))) { if (argc >= 3 && argv[2] != NULL) { // compare 3rd parameter with HW_ARCH string, in case of match, return 0 - ret = strcmp(HW_ARCH, argv[2]) != 0; + ret = strncmp(HW_ARCH, argv[2], strlen(HW_ARCH)); if (ret == 0) { - printf("hw_ver match: %s\n", HW_ARCH); + printf("hwver match: %s\n", HW_ARCH); } } else { - errx(1, "not enough arguments, try 'version hwcmp PX4FMU_1'"); + errx(1, "Not enough arguments, try 'ver hwcmp PX4FMU_V2'"); } } - else if (!strncmp(argv[1], sz_ver_git_str, strlen(sz_ver_git_str))) { + else if (!strncmp(argv[1], sz_ver_git_str, sizeof(sz_ver_git_str))) { ver_githash(0); ret = 0; } - else if (!strncmp(argv[1], sz_ver_date_str, strlen(sz_ver_date_str))) { - ver_date(0); + else if (!strncmp(argv[1], sz_ver_bdate_str, sizeof(sz_ver_bdate_str))) { + ver_bdate(0); ret = 0; } - else if (!strncmp(argv[1], sz_ver_gcc_str, strlen(sz_ver_gcc_str))) { + else if (!strncmp(argv[1], sz_ver_gcc_str, sizeof(sz_ver_gcc_str))) { ver_gcclong(0); ret = 0; } - else if (!strncmp(argv[1], sz_ver_all_str, strlen(sz_ver_all_str))) { - printf("Pixhawk version info\n"); + else if (!strncmp(argv[1], sz_ver_all_str, sizeof(sz_ver_all_str))) { ver_hwarch(1); - ver_date(1); + ver_bdate(1); ver_githash(1); ver_gcclong(1); ret = 0; diff --git a/src/systemcmds/ver/ver.h b/src/systemcmds/ver/ver.h deleted file mode 100644 index 3de308c05c..0000000000 --- a/src/systemcmds/ver/ver.h +++ /dev/null @@ -1,64 +0,0 @@ -/**************************************************************************** -* -* Copyright (c) 2012-2014 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 vercmd.h -* -* Version command, unifies way of showing versions of hW, sW, build, gcc -* Mainly used from nsh-console, shall replace also hw_arch command -* -* External use: possible, include "vercmd.h" and use "ver_xx" functions -* -* Extension: possible, just add new else-if to version_main function -* -* @author Vladimir Kulla -*/ - -#ifndef VERCMD_H_ -#define VERCMD_H_ - - -void ver_githash(int bShowPrefix); - -void ver_hwarch(int bShowPrefix); - -void ver_date(int bShowPrefix); - -void ver_gcclong(int bShowPrefix); -void ver_gccshort(int bShowPrefix); -int ver_gccnum(); - - - - -#endif /* VERCMD_H_ */ From e134537ae8f892ba3ae4a2f9c771bcfa62f905c8 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 28 Apr 2014 17:44:29 +0200 Subject: [PATCH 06/28] Added automatic declination lookup --- src/lib/geo/geo.h | 2 + src/lib/geo/geo_mag_declination.c | 135 ++++++++++++++++++++++++++++++ src/lib/geo/geo_mag_declination.h | 47 +++++++++++ src/lib/geo/module.mk | 3 +- 4 files changed, 186 insertions(+), 1 deletion(-) create mode 100644 src/lib/geo/geo_mag_declination.c create mode 100644 src/lib/geo/geo_mag_declination.h diff --git a/src/lib/geo/geo.h b/src/lib/geo/geo.h index 0a3f85d970..d987afe337 100644 --- a/src/lib/geo/geo.h +++ b/src/lib/geo/geo.h @@ -48,6 +48,8 @@ #include "uORB/topics/fence.h" #include "uORB/topics/vehicle_global_position.h" +#include "geo/geo_mag_declination.h" + __BEGIN_DECLS #include diff --git a/src/lib/geo/geo_mag_declination.c b/src/lib/geo/geo_mag_declination.c new file mode 100644 index 0000000000..7b4aa69a2f --- /dev/null +++ b/src/lib/geo/geo_mag_declination.c @@ -0,0 +1,135 @@ +/**************************************************************************** + * + * Copyright (c) 2014 MAV GEO Library (MAVGEO). 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 MAVGEO 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 geo_mag_declination.c +* +* Calculation / lookup table for earth magnetic field declination. +* +* Lookup table from Scott Ferguson +* +* XXX Lookup table currently too coarse in resolution (only full degrees) +* and lat/lon res - needs extension medium term. +* +*/ + + +/** set this always to the sampling in degrees for the table below */ +#define SAMPLING_RES 10 +#define SAMPLING_MIN_LAT -60.0f +#define SAMPLING_MAX_LAT 60.0f +#define SAMPLING_MIN_LON -180.0f +#define SAMPLING_MAX_LON 180.0f + +static const char declination_table[13][37] = \ +{ + 46, 45, 44, 42, 41, 40, 38, 36, 33, 28, 23, 16, 10, 4, -1, -5, -9, -14, -19, -26, -33, -40, -48, -55, -61, \ + -66, -71, -74, -75, -72, -61, -25, 22, 40, 45, 47, 46, 30, 30, 30, 30, 29, 29, 29, 29, 27, 24, 18, 11, 3, \ + -3, -9, -12, -15, -17, -21, -26, -32, -39, -45, -51, -55, -57, -56, -53, -44, -31, -14, 0, 13, 21, 26, \ + 29, 30, 21, 22, 22, 22, 22, 22, 22, 22, 21, 18, 13, 5, -3, -11, -17, -20, -21, -22, -23, -25, -29, -35, \ + -40, -44, -45, -44, -40, -32, -22, -12, -3, 3, 9, 14, 18, 20, 21, 16, 17, 17, 17, 17, 17, 16, 16, 16, 13, \ + 8, 0, -9, -16, -21, -24, -25, -25, -23, -20, -21, -24, -28, -31, -31, -29, -24, -17, -9, -3, 0, 4, 7, \ + 10, 13, 15, 16, 12, 13, 13, 13, 13, 13, 12, 12, 11, 9, 3, -4, -12, -19, -23, -24, -24, -22, -17, -12, -9, \ + -10, -13, -17, -18, -16, -13, -8, -3, 0, 1, 3, 6, 8, 10, 12, 12, 10, 10, 10, 10, 10, 10, 10, 9, 9, 6, 0, -6, \ + -14, -20, -22, -22, -19, -15, -10, -6, -2, -2, -4, -7, -8, -8, -7, -4, 0, 1, 1, 2, 4, 6, 8, 10, 10, 9, 9, 9, \ + 9, 9, 9, 8, 8, 7, 4, -1, -8, -15, -19, -20, -18, -14, -9, -5, -2, 0, 1, 0, -2, -3, -4, -3, -2, 0, 0, 0, 1, 3, 5, \ + 7, 8, 9, 8, 8, 8, 9, 9, 9, 8, 8, 6, 2, -3, -9, -15, -18, -17, -14, -10, -6, -2, 0, 1, 2, 2, 0, -1, -1, -2, -1, 0, \ + 0, 0, 0, 1, 3, 5, 7, 8, 8, 9, 9, 10, 10, 10, 10, 8, 5, 0, -5, -11, -15, -16, -15, -12, -8, -4, -1, 0, 2, 3, 2, 1, 0, \ + 0, 0, 0, 0, -1, -2, -2, -1, 0, 3, 6, 8, 6, 9, 10, 11, 12, 12, 11, 9, 5, 0, -7, -12, -15, -15, -13, -10, -7, -3, \ + 0, 1, 2, 3, 3, 3, 2, 1, 0, 0, -1, -3, -4, -5, -5, -2, 0, 3, 6, 5, 8, 11, 13, 15, 15, 14, 11, 5, -1, -9, -14, -17, \ + -16, -14, -11, -7, -3, 0, 1, 3, 4, 5, 5, 5, 4, 3, 1, -1, -4, -7, -8, -8, -6, -2, 1, 5, 4, 8, 12, 15, 17, 18, 16, \ + 12, 5, -3, -12, -18, -20, -19, -16, -13, -8, -4, -1, 1, 4, 6, 8, 9, 9, 9, 7, 3, -1, -6, -10, -12, -11, -9, -5, \ + 0, 4, 3, 9, 14, 17, 20, 21, 19, 14, 4, -8, -19, -25, -26, -25, -21, -17, -12, -7, -2, 1, 5, 9, 13, 15, 16, 16, \ + 13, 7, 0, -7, -12, -15, -14, -11, -6, -1, 3 +}; + +static float get_lookup_table_val(unsigned lat, unsigned lon); + +__EXPORT float get_mag_declination(float lat, float lon) +{ + /* + * If the values exceed valid ranges, return zero as default + * as we have no way of knowing what the closest real value + * would be. + */ + if (lat < -90.0f || lat > 90.0f || + lon < -180.0f || lon > 180.0f) { + return 0.0f; + } + + /* round down to nearest sampling resolution */ + int min_lat = (((int)lat) / SAMPLING_RES) * SAMPLING_RES; + int min_lon = (((int)lon) / SAMPLING_RES) * SAMPLING_RES; + + /* for the rare case of hitting the bounds exactly + * the rounding logic wouldn't fit, so enforce it. + */ + + /* limit to table bounds - required for maxima even when table spans full globe range */ + if (lat <= SAMPLING_MIN_LAT) { + min_lat = SAMPLING_MIN_LAT; + } + + if (lat >= SAMPLING_MAX_LAT) { + min_lat = (((int)lat) / SAMPLING_RES) * SAMPLING_RES - SAMPLING_RES; + } + + if (lon <= SAMPLING_MIN_LON) { + min_lon = SAMPLING_MIN_LON; + } + + if (lon >= SAMPLING_MAX_LON) { + min_lon = (((int)lon) / SAMPLING_RES) * SAMPLING_RES - SAMPLING_RES; + } + + /* find index of nearest low sampling point */ + unsigned min_lat_index = (90 + min_lat) / SAMPLING_RES; + unsigned min_lon_index = (180 + min_lat) / SAMPLING_RES; + + float declination_sw = get_lookup_table_val(min_lat_index, min_lon_index); + float declination_se = get_lookup_table_val(min_lat_index, min_lon_index + 1); + float declination_ne = get_lookup_table_val(min_lat_index + 1, min_lon_index + 1); + float declination_nw = get_lookup_table_val(min_lat_index + 1, min_lon_index); + + /* perform bilinear interpolation on the four grid corners */ + + float declination_min = ((lon - min_lon) / SAMPLING_RES) * (declination_se - declination_sw) + declination_sw; + float declination_max = ((lon - min_lon) / SAMPLING_RES) * (declination_ne - declination_nw) + declination_nw; + + return (lat - min_lat) / SAMPLING_RES * (declination_max - declination_min) + declination_min; +} + +float get_lookup_table_val(unsigned lat_index, unsigned lon_index) +{ + return declination_table[lat_index][lon_index]; +} \ No newline at end of file diff --git a/src/lib/geo/geo_mag_declination.h b/src/lib/geo/geo_mag_declination.h new file mode 100644 index 0000000000..0ac062d6d4 --- /dev/null +++ b/src/lib/geo/geo_mag_declination.h @@ -0,0 +1,47 @@ +/**************************************************************************** + * + * Copyright (c) 2014 MAV GEO Library (MAVGEO). 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 MAVGEO 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 geo_mag_declination.h +* +* Calculation / lookup table for earth magnetic field declination. +* +*/ + +#pragma once + +__BEGIN_DECLS + +__EXPORT float get_mag_declination(float lat, float lon); + +__END_DECLS diff --git a/src/lib/geo/module.mk b/src/lib/geo/module.mk index 30a2dc99fd..9500a2bccf 100644 --- a/src/lib/geo/module.mk +++ b/src/lib/geo/module.mk @@ -35,4 +35,5 @@ # Geo library # -SRCS = geo.c +SRCS = geo.c \ + geo_mag_declination.c From c179863b1e35628a75efef624d2df0b0e85ad923 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 23 Feb 2014 07:20:54 -0800 Subject: [PATCH 07/28] Improve testing infrastructure for mixer and SBUS2 --- Tools/tests-host/.gitignore | 1 + Tools/tests-host/Makefile | 57 +++++++++---------------- Tools/tests-host/board_config.h | 0 Tools/tests-host/debug.h | 5 +++ Tools/tests-host/run_tests.sh | 6 +++ Tools/tests-host/sbus2_test.cpp | 75 +++++++++++++++++++++++++++++++++ 6 files changed, 108 insertions(+), 36 deletions(-) create mode 100644 Tools/tests-host/board_config.h create mode 100644 Tools/tests-host/debug.h create mode 100755 Tools/tests-host/run_tests.sh create mode 100644 Tools/tests-host/sbus2_test.cpp diff --git a/Tools/tests-host/.gitignore b/Tools/tests-host/.gitignore index 61e0915515..1618faf581 100644 --- a/Tools/tests-host/.gitignore +++ b/Tools/tests-host/.gitignore @@ -1,2 +1,3 @@ ./obj/* mixer_test +sbus2_test \ No newline at end of file diff --git a/Tools/tests-host/Makefile b/Tools/tests-host/Makefile index 7ab1454f01..15ccf15945 100644 --- a/Tools/tests-host/Makefile +++ b/Tools/tests-host/Makefile @@ -1,47 +1,32 @@ CC=g++ -CFLAGS=-I. -I../../src/modules -I ../../src/include -I../../src/drivers -I../../src -D__EXPORT="" -Dnullptr="0" +CFLAGS=-I. -I../../src/modules -I ../../src/include -I../../src/drivers \ + -I../../src -D__EXPORT="" -Dnullptr="0" -lm -ODIR=obj -LDIR =../lib +all: mixer_test sbus2_test -LIBS=-lm +MIXER_FILES=../../src/systemcmds/tests/test_mixer.cpp \ + ../../src/systemcmds/tests/test_conv.cpp \ + ../../src/modules/systemlib/mixer/mixer_simple.cpp \ + ../../src/modules/systemlib/mixer/mixer_multirotor.cpp \ + ../../src/modules/systemlib/mixer/mixer.cpp \ + ../../src/modules/systemlib/mixer/mixer_group.cpp \ + ../../src/modules/systemlib/mixer/mixer_load.c \ + ../../src/modules/systemlib/pwm_limit/pwm_limit.c \ + hrt.cpp \ + mixer_test.cpp -#_DEPS = test.h -#DEPS = $(patsubst %,$(IDIR)/%,$(_DEPS)) +SBUS2_FILES=../../src/modules/px4iofirmware/sbus.c \ + hrt.cpp \ + sbus2_test.cpp -_OBJ = mixer_test.o test_mixer.o mixer_simple.o mixer_multirotor.o \ - mixer.o mixer_group.o mixer_load.o test_conv.o pwm_limit.o hrt.o -OBJ = $(patsubst %,$(ODIR)/%,$(_OBJ)) +mixer_test: $(MIXER_FILES) + $(CC) -o mixer_test $(MIXER_FILES) $(CFLAGS) -#$(DEPS) -$(ODIR)/%.o: %.cpp - mkdir -p obj - $(CC) -c -o $@ $< $(CFLAGS) - -$(ODIR)/%.o: ../../src/systemcmds/tests/%.cpp - $(CC) -c -o $@ $< $(CFLAGS) - -$(ODIR)/%.o: ../../src/modules/systemlib/%.cpp - $(CC) -c -o $@ $< $(CFLAGS) - -$(ODIR)/%.o: ../../src/modules/systemlib/mixer/%.cpp - $(CC) -c -o $@ $< $(CFLAGS) - -$(ODIR)/%.o: ../../src/modules/systemlib/pwm_limit/%.cpp - $(CC) -c -o $@ $< $(CFLAGS) - -$(ODIR)/%.o: ../../src/modules/systemlib/pwm_limit/%.c - $(CC) -c -o $@ $< $(CFLAGS) - -$(ODIR)/%.o: ../../src/modules/systemlib/mixer/%.c - $(CC) -c -o $@ $< $(CFLAGS) - -# -mixer_test: $(OBJ) - g++ -o $@ $^ $(CFLAGS) $(LIBS) +sbus2_test: $(SBUS2_FILES) + $(CC) -o sbus2_test $(SBUS2_FILES) $(CFLAGS) .PHONY: clean clean: - rm -f $(ODIR)/*.o *~ core $(INCDIR)/*~ \ No newline at end of file + rm -f $(ODIR)/*.o *~ core $(INCDIR)/*~ mixer_test sbus2_test \ No newline at end of file diff --git a/Tools/tests-host/board_config.h b/Tools/tests-host/board_config.h new file mode 100644 index 0000000000..e69de29bb2 diff --git a/Tools/tests-host/debug.h b/Tools/tests-host/debug.h new file mode 100644 index 0000000000..9824d13fc3 --- /dev/null +++ b/Tools/tests-host/debug.h @@ -0,0 +1,5 @@ + +#pragma once + +#include +#define lowsyslog warnx \ No newline at end of file diff --git a/Tools/tests-host/run_tests.sh b/Tools/tests-host/run_tests.sh new file mode 100755 index 0000000000..ff5ee509ac --- /dev/null +++ b/Tools/tests-host/run_tests.sh @@ -0,0 +1,6 @@ +#!/bin/sh + +make clean +make all +./mixer_test +./sbus2_test ../../../../data/sbus2/sbus2_r7008SB_gps_baro_tx_off.txt \ No newline at end of file diff --git a/Tools/tests-host/sbus2_test.cpp b/Tools/tests-host/sbus2_test.cpp new file mode 100644 index 0000000000..e3b0122267 --- /dev/null +++ b/Tools/tests-host/sbus2_test.cpp @@ -0,0 +1,75 @@ + +#include +#include +#include +#include +#include +#include +#include +#include "../../src/systemcmds/tests/tests.h" + +int main(int argc, char *argv[]) { + warnx("SBUS2 test started"); + + if (argc < 2) + errx(1, "Need a filename for the input file"); + + warnx("loading data from: %s", argv[1]); + + FILE *fp; + + fp = fopen(argv[1],"rt"); + + if (!fp) + errx(1, "failed opening file"); + + float f; + unsigned x; + int ret; + + // Trash the first 20 lines + for (unsigned i = 0; i < 20; i++) { + (void)fscanf(fp, "%f,%x,,", &f, &x); + } + + // Init the parser + uint8_t frame[30]; + unsigned partial_frame_count = 0; + uint16_t rc_values[18]; + uint16_t num_values; + bool sbus_failsafe; + bool sbus_frame_drop; + uint16_t max_channels = sizeof(rc_values) / sizeof(rc_values[0]); + + float last_time = 0; + + while (EOF != (ret = fscanf(fp, "%f,%x,,", &f, &x))) { + if (((f - last_time) * 1000 * 1000) > 3000) { + partial_frame_count = 0; + warnx("FRAME RESET\n\n"); + } + + frame[partial_frame_count] = x; + partial_frame_count++; + + //warnx("%f: 0x%02x, first: 0x%02x, last: 0x%02x, pcount: %u", (double)f, x, frame[0], frame[24], partial_frame_count); + + if (partial_frame_count == sizeof(frame)) + partial_frame_count = 0; + + last_time = f; + + // Pipe the data into the parser + hrt_abstime now = hrt_absolute_time(); + + if (partial_frame_count % 25 == 0) + sbus_parse(now, frame, &partial_frame_count, rc_values, &num_values, &sbus_failsafe, &sbus_frame_drop, max_channels); + } + + if (ret == EOF) { + warnx("Test finished, reached end of file"); + } else { + warnx("Test aborted, errno: %d", ret); + } + +} \ No newline at end of file From db304910510ed2ae8c262097fa6e8df1db965d5e Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 28 Apr 2014 19:20:14 +0200 Subject: [PATCH 08/28] Add missing newline --- Tools/tests-host/.gitignore | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Tools/tests-host/.gitignore b/Tools/tests-host/.gitignore index 1618faf581..a6ce91d694 100644 --- a/Tools/tests-host/.gitignore +++ b/Tools/tests-host/.gitignore @@ -1,3 +1,3 @@ ./obj/* mixer_test -sbus2_test \ No newline at end of file +sbus2_test From 002ff7da7e792010c4eba5903075af83cb1ebd3e Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 23 Feb 2014 07:21:13 -0800 Subject: [PATCH 09/28] Add missing header in HRT --- src/drivers/drv_hrt.h | 1 + 1 file changed, 1 insertion(+) diff --git a/src/drivers/drv_hrt.h b/src/drivers/drv_hrt.h index d130d68b34..8bfc90c64b 100644 --- a/src/drivers/drv_hrt.h +++ b/src/drivers/drv_hrt.h @@ -41,6 +41,7 @@ #include #include +#include #include #include From 3959d0c1c9cf32ac1a2fa4df63fa0f0f77cc17a5 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 28 Apr 2014 19:24:44 +0200 Subject: [PATCH 10/28] Disable sbus2_test for now, just leverage the testing infrastructure --- Tools/tests-host/sbus2_test.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Tools/tests-host/sbus2_test.cpp b/Tools/tests-host/sbus2_test.cpp index e3b0122267..134a71b809 100644 --- a/Tools/tests-host/sbus2_test.cpp +++ b/Tools/tests-host/sbus2_test.cpp @@ -63,7 +63,7 @@ int main(int argc, char *argv[]) { hrt_abstime now = hrt_absolute_time(); if (partial_frame_count % 25 == 0) - sbus_parse(now, frame, &partial_frame_count, rc_values, &num_values, &sbus_failsafe, &sbus_frame_drop, max_channels); + //sbus_parse(now, frame, &partial_frame_count, rc_values, &num_values, &sbus_failsafe, &sbus_frame_drop, max_channels); } if (ret == EOF) { From da525f29f13e5bdae717fbf189c5a3b4ab46794c Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 28 Apr 2014 19:25:13 +0200 Subject: [PATCH 11/28] Add missing header in mixer load command --- src/modules/systemlib/mixer/mixer_load.c | 1 + 1 file changed, 1 insertion(+) diff --git a/src/modules/systemlib/mixer/mixer_load.c b/src/modules/systemlib/mixer/mixer_load.c index b05273c0de..bf3428a50b 100644 --- a/src/modules/systemlib/mixer/mixer_load.c +++ b/src/modules/systemlib/mixer/mixer_load.c @@ -41,6 +41,7 @@ #include #include #include +#include #include "mixer_load.h" From 238a3636faae13c4ba52ab9581a305c7a069276e Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 28 Apr 2014 20:29:13 +0200 Subject: [PATCH 12/28] Add autodeclination --- Tools/tests-host/.gitignore | 1 + 1 file changed, 1 insertion(+) diff --git a/Tools/tests-host/.gitignore b/Tools/tests-host/.gitignore index a6ce91d694..87b314c614 100644 --- a/Tools/tests-host/.gitignore +++ b/Tools/tests-host/.gitignore @@ -1,3 +1,4 @@ ./obj/* mixer_test sbus2_test +autodeclination_test From 7aefcb7a09a12fae2dcbe2bc2360948aefbb66a4 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 28 Apr 2014 20:29:45 +0200 Subject: [PATCH 13/28] Add autodeclination testing - no-op right now --- Tools/tests-host/Makefile | 11 +++++++++-- Tools/tests-host/autodeclination_test.cpp | 19 +++++++++++++++++++ Tools/tests-host/sbus2_test.cpp | 2 +- 3 files changed, 29 insertions(+), 3 deletions(-) create mode 100644 Tools/tests-host/autodeclination_test.cpp diff --git a/Tools/tests-host/Makefile b/Tools/tests-host/Makefile index 15ccf15945..fd001e4d7f 100644 --- a/Tools/tests-host/Makefile +++ b/Tools/tests-host/Makefile @@ -3,7 +3,7 @@ CC=g++ CFLAGS=-I. -I../../src/modules -I ../../src/include -I../../src/drivers \ -I../../src -D__EXPORT="" -Dnullptr="0" -lm -all: mixer_test sbus2_test +all: mixer_test sbus2_test autodeclination_test MIXER_FILES=../../src/systemcmds/tests/test_mixer.cpp \ ../../src/systemcmds/tests/test_conv.cpp \ @@ -20,13 +20,20 @@ SBUS2_FILES=../../src/modules/px4iofirmware/sbus.c \ hrt.cpp \ sbus2_test.cpp +AUTODECLINATION_FILES=../../src/lib/geo/geo_mag_declination.c \ + hrt.cpp \ + autodeclination_test.cpp + mixer_test: $(MIXER_FILES) $(CC) -o mixer_test $(MIXER_FILES) $(CFLAGS) sbus2_test: $(SBUS2_FILES) $(CC) -o sbus2_test $(SBUS2_FILES) $(CFLAGS) +autodeclination_test: $(SBUS2_FILES) + $(CC) -o autodeclination_test $(SBUS2_FILES) $(CFLAGS) + .PHONY: clean clean: - rm -f $(ODIR)/*.o *~ core $(INCDIR)/*~ mixer_test sbus2_test \ No newline at end of file + rm -f $(ODIR)/*.o *~ core $(INCDIR)/*~ mixer_test sbus2_test autodeclination_test \ No newline at end of file diff --git a/Tools/tests-host/autodeclination_test.cpp b/Tools/tests-host/autodeclination_test.cpp new file mode 100644 index 0000000000..b1b30f5d97 --- /dev/null +++ b/Tools/tests-host/autodeclination_test.cpp @@ -0,0 +1,19 @@ + +#include +#include +#include +#include +#include +#include +#include +#include "../../src/systemcmds/tests/tests.h" + +int main(int argc, char *argv[]) { + warnx("autodeclination test started"); + + if (argc < 3) + errx(1, "Need lat/lon!"); + + + +} \ No newline at end of file diff --git a/Tools/tests-host/sbus2_test.cpp b/Tools/tests-host/sbus2_test.cpp index 134a71b809..281903cf68 100644 --- a/Tools/tests-host/sbus2_test.cpp +++ b/Tools/tests-host/sbus2_test.cpp @@ -62,7 +62,7 @@ int main(int argc, char *argv[]) { // Pipe the data into the parser hrt_abstime now = hrt_absolute_time(); - if (partial_frame_count % 25 == 0) + //if (partial_frame_count % 25 == 0) //sbus_parse(now, frame, &partial_frame_count, rc_values, &num_values, &sbus_failsafe, &sbus_frame_drop, max_channels); } From 9c81ab113e73c8862cc3f4e81411cb69dbec14ee Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 28 Apr 2014 20:42:46 +0200 Subject: [PATCH 14/28] Updated outo-test --- Tools/tests-host/Makefile | 6 +++--- Tools/tests-host/autodeclination_test.cpp | 11 ++++++++++- 2 files changed, 13 insertions(+), 4 deletions(-) diff --git a/Tools/tests-host/Makefile b/Tools/tests-host/Makefile index fd001e4d7f..f0737ef88c 100644 --- a/Tools/tests-host/Makefile +++ b/Tools/tests-host/Makefile @@ -1,7 +1,7 @@ CC=g++ CFLAGS=-I. -I../../src/modules -I ../../src/include -I../../src/drivers \ - -I../../src -D__EXPORT="" -Dnullptr="0" -lm + -I../../src -I../../src/lib -D__EXPORT="" -Dnullptr="0" -lm all: mixer_test sbus2_test autodeclination_test @@ -20,7 +20,7 @@ SBUS2_FILES=../../src/modules/px4iofirmware/sbus.c \ hrt.cpp \ sbus2_test.cpp -AUTODECLINATION_FILES=../../src/lib/geo/geo_mag_declination.c \ +AUTODECLINATION_FILES= ../../src/lib/geo/geo_mag_declination.c \ hrt.cpp \ autodeclination_test.cpp @@ -31,7 +31,7 @@ sbus2_test: $(SBUS2_FILES) $(CC) -o sbus2_test $(SBUS2_FILES) $(CFLAGS) autodeclination_test: $(SBUS2_FILES) - $(CC) -o autodeclination_test $(SBUS2_FILES) $(CFLAGS) + $(CC) -o autodeclination_test $(AUTODECLINATION_FILES) $(CFLAGS) .PHONY: clean diff --git a/Tools/tests-host/autodeclination_test.cpp b/Tools/tests-host/autodeclination_test.cpp index b1b30f5d97..6c751dc1e7 100644 --- a/Tools/tests-host/autodeclination_test.cpp +++ b/Tools/tests-host/autodeclination_test.cpp @@ -1,5 +1,6 @@ #include +#include #include #include #include @@ -7,6 +8,7 @@ #include #include #include "../../src/systemcmds/tests/tests.h" +#include int main(int argc, char *argv[]) { warnx("autodeclination test started"); @@ -14,6 +16,13 @@ int main(int argc, char *argv[]) { if (argc < 3) errx(1, "Need lat/lon!"); - + char* p_end; + + float lat = strtod(argv[1], &p_end); + float lon = strtod(argv[2], &p_end); + + float declination = get_mag_declination(lat, lon); + + printf("lat: %f lon: %f, dec: %f\n", lat, lon, declination); } \ No newline at end of file From ec50f73cbe4c88a57f92f888d764a678f6796dd2 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 28 Apr 2014 20:44:11 +0200 Subject: [PATCH 15/28] Updated geo lib C/C++ interfacing --- src/lib/geo/geo.h | 4 ++-- src/lib/geo/geo_mag_declination.c | 2 ++ 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/src/lib/geo/geo.h b/src/lib/geo/geo.h index d987afe337..e2f3da6f80 100644 --- a/src/lib/geo/geo.h +++ b/src/lib/geo/geo.h @@ -48,10 +48,10 @@ #include "uORB/topics/fence.h" #include "uORB/topics/vehicle_global_position.h" -#include "geo/geo_mag_declination.h" - __BEGIN_DECLS +#include "geo/geo_mag_declination.h" + #include #define CONSTANTS_ONE_G 9.80665f /* m/s^2 */ diff --git a/src/lib/geo/geo_mag_declination.c b/src/lib/geo/geo_mag_declination.c index 7b4aa69a2f..b96f877214 100644 --- a/src/lib/geo/geo_mag_declination.c +++ b/src/lib/geo/geo_mag_declination.c @@ -43,6 +43,8 @@ * */ +#include + /** set this always to the sampling in degrees for the table below */ #define SAMPLING_RES 10 From 48a9ba39afec8443ad4cb7d34f42e0cfc37d4e1e Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 30 Apr 2014 08:13:42 +0200 Subject: [PATCH 16/28] Fixed typos in declination table lookup --- src/lib/geo/geo_mag_declination.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/lib/geo/geo_mag_declination.c b/src/lib/geo/geo_mag_declination.c index b96f877214..cfee6b423d 100644 --- a/src/lib/geo/geo_mag_declination.c +++ b/src/lib/geo/geo_mag_declination.c @@ -115,8 +115,8 @@ __EXPORT float get_mag_declination(float lat, float lon) } /* find index of nearest low sampling point */ - unsigned min_lat_index = (90 + min_lat) / SAMPLING_RES; - unsigned min_lon_index = (180 + min_lat) / SAMPLING_RES; + unsigned min_lat_index = (-(SAMPLING_MIN_LAT) + min_lat) / SAMPLING_RES; + unsigned min_lon_index = (-(SAMPLING_MIN_LON) + min_lon) / SAMPLING_RES; float declination_sw = get_lookup_table_val(min_lat_index, min_lon_index); float declination_se = get_lookup_table_val(min_lat_index, min_lon_index + 1); From 5429b82ae0fe777e31a1a52fa98f472f343e33af Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 30 Apr 2014 08:53:22 +0200 Subject: [PATCH 17/28] Fix last data type and casting compiler nuisances --- src/lib/geo/geo_mag_declination.c | 15 +++++++-------- 1 file changed, 7 insertions(+), 8 deletions(-) diff --git a/src/lib/geo/geo_mag_declination.c b/src/lib/geo/geo_mag_declination.c index cfee6b423d..09eac38f44 100644 --- a/src/lib/geo/geo_mag_declination.c +++ b/src/lib/geo/geo_mag_declination.c @@ -45,15 +45,14 @@ #include - /** set this always to the sampling in degrees for the table below */ -#define SAMPLING_RES 10 +#define SAMPLING_RES 10.0f #define SAMPLING_MIN_LAT -60.0f #define SAMPLING_MAX_LAT 60.0f #define SAMPLING_MIN_LON -180.0f #define SAMPLING_MAX_LON 180.0f -static const char declination_table[13][37] = \ +static const int8_t declination_table[13][37] = \ { 46, 45, 44, 42, 41, 40, 38, 36, 33, 28, 23, 16, 10, 4, -1, -5, -9, -14, -19, -26, -33, -40, -48, -55, -61, \ -66, -71, -74, -75, -72, -61, -25, 22, 40, 45, 47, 46, 30, 30, 30, 30, 29, 29, 29, 29, 27, 24, 18, 11, 3, \ @@ -90,8 +89,8 @@ __EXPORT float get_mag_declination(float lat, float lon) } /* round down to nearest sampling resolution */ - int min_lat = (((int)lat) / SAMPLING_RES) * SAMPLING_RES; - int min_lon = (((int)lon) / SAMPLING_RES) * SAMPLING_RES; + int min_lat = (int)(lat / SAMPLING_RES) * SAMPLING_RES; + int min_lon = (int)(lon / SAMPLING_RES) * SAMPLING_RES; /* for the rare case of hitting the bounds exactly * the rounding logic wouldn't fit, so enforce it. @@ -103,7 +102,7 @@ __EXPORT float get_mag_declination(float lat, float lon) } if (lat >= SAMPLING_MAX_LAT) { - min_lat = (((int)lat) / SAMPLING_RES) * SAMPLING_RES - SAMPLING_RES; + min_lat = (int)(lat / SAMPLING_RES) * SAMPLING_RES - SAMPLING_RES; } if (lon <= SAMPLING_MIN_LON) { @@ -111,7 +110,7 @@ __EXPORT float get_mag_declination(float lat, float lon) } if (lon >= SAMPLING_MAX_LON) { - min_lon = (((int)lon) / SAMPLING_RES) * SAMPLING_RES - SAMPLING_RES; + min_lon = (int)(lon / SAMPLING_RES) * SAMPLING_RES - SAMPLING_RES; } /* find index of nearest low sampling point */ @@ -128,7 +127,7 @@ __EXPORT float get_mag_declination(float lat, float lon) float declination_min = ((lon - min_lon) / SAMPLING_RES) * (declination_se - declination_sw) + declination_sw; float declination_max = ((lon - min_lon) / SAMPLING_RES) * (declination_ne - declination_nw) + declination_nw; - return (lat - min_lat) / SAMPLING_RES * (declination_max - declination_min) + declination_min; + return ((lat - min_lat) / SAMPLING_RES) * (declination_max - declination_min) + declination_min; } float get_lookup_table_val(unsigned lat_index, unsigned lon_index) From a8743184c3d24e6ec8086602241096021d9aba84 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 1 May 2014 16:02:00 +0200 Subject: [PATCH 18/28] Add command to do PWM step inputs --- src/systemcmds/pwm/pwm.c | 106 ++++++++++++++++++++++++++++++++++++++- 1 file changed, 105 insertions(+), 1 deletion(-) diff --git a/src/systemcmds/pwm/pwm.c b/src/systemcmds/pwm/pwm.c index 7c23f38c20..1828c660f8 100644 --- a/src/systemcmds/pwm/pwm.c +++ b/src/systemcmds/pwm/pwm.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Copyright (c) 2013, 2014 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 @@ -443,6 +443,110 @@ pwm_main(int argc, char *argv[]) exit(0); } } + usleep(2000); + } + exit(0); + + + } else if (!strcmp(argv[1], "steps")) { + + if (set_mask == 0) { + usage("no channels set"); + } + + /* get current servo values */ + struct pwm_output_values last_spos; + + for (unsigned i = 0; i < servo_count; i++) { + + ret = ioctl(fd, PWM_SERVO_GET(i), (unsigned long)&last_spos.values[i]); + if (ret != OK) + err(1, "PWM_SERVO_GET(%d)", i); + } + + /* perform PWM output */ + + /* Open console directly to grab CTRL-C signal */ + struct pollfd fds; + fds.fd = 0; /* stdin */ + fds.events = POLLIN; + + warnx("Running 5 steps. WARNING! Motors will be live in 5 seconds\nPress any key to abort now."); + sleep(5); + + unsigned off = 900; + unsigned idle = 1300; + unsigned full = 2000; + unsigned steps_timings_us[] = {2000, 5000, 20000, 50000}; + + unsigned phase = 0; + unsigned phase_counter = 0; + unsigned const phase_maxcount = 20; + + for ( unsigned steps_timing_index = 0; + steps_timing_index < sizeof(steps_timings_us) / sizeof(steps_timings_us[0]); + steps_timing_index++ ) { + + warnx("Sending step input with 0 to 100%% over a %u microseconds ramp", steps_timings_us[steps_timing_index]); + + while (1) { + for (unsigned i = 0; i < servo_count; i++) { + if (set_mask & 1< 0) { + + int ret = read(0, &c, 1); + if (ret > 0) { + /* reset output to the last value */ + for (unsigned i = 0; i < servo_count; i++) { + if (set_mask & 1< phase_maxcount) { + phase++; + phase_counter = 0; + } + } } exit(0); From 2343aad455aedfb64c22f1ed99820df23c5ac32b Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 1 May 2014 19:16:05 +0200 Subject: [PATCH 19/28] Easystar mixer fix --- ROMFS/px4fmu_common/init.d/2100_mpx_easystar | 2 +- ROMFS/px4fmu_common/mixers/easystar.mix | 84 ++++++++++++++++++++ 2 files changed, 85 insertions(+), 1 deletion(-) create mode 100644 ROMFS/px4fmu_common/mixers/easystar.mix diff --git a/ROMFS/px4fmu_common/init.d/2100_mpx_easystar b/ROMFS/px4fmu_common/init.d/2100_mpx_easystar index 465a22c53a..db0e40fc2e 100644 --- a/ROMFS/px4fmu_common/init.d/2100_mpx_easystar +++ b/ROMFS/px4fmu_common/init.d/2100_mpx_easystar @@ -5,4 +5,4 @@ sh /etc/init.d/rc.fw_defaults -set MIXER FMU_RET +set MIXER easystar.mix diff --git a/ROMFS/px4fmu_common/mixers/easystar.mix b/ROMFS/px4fmu_common/mixers/easystar.mix new file mode 100644 index 0000000000..610da567f8 --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/easystar.mix @@ -0,0 +1,84 @@ +Aileron/rudder/elevator/throttle mixer for PX4FMU +================================================== + +This file defines mixers suitable for controlling a fixed wing aircraft with +aileron, rudder, elevator and throttle controls using PX4FMU. The configuration +assumes the aileron servo(s) are connected to PX4FMU servo output 0, the +elevator to output 1, the rudder to output 2 and the throttle to output 3. + +Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 +(roll), 1 (pitch) and 3 (thrust). + +Aileron mixer +------------- +Two scalers total (output, roll). + +This mixer assumes that the aileron servos are set up correctly mechanically; +depending on the actual configuration it may be necessary to reverse the scaling +factors (to reverse the servo movement) and adjust the offset, scaling and +endpoints to suit. + +As there is only one output, if using two servos adjustments to compensate for +differences between the servos must be made mechanically. To obtain the correct +motion using a Y cable, the servos can be positioned reversed from one another. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 0 10000 10000 0 -10000 10000 + +Elevator mixer +------------ +Two scalers total (output, roll). + +This mixer assumes that the elevator servo is set up correctly mechanically; +depending on the actual configuration it may be necessary to reverse the scaling +factors (to reverse the servo movement) and adjust the offset, scaling and +endpoints to suit. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 1 -10000 -10000 0 -10000 10000 + +Rudder mixer +------------ +Two scalers total (output, yaw). + +This mixer assumes that the rudder servo is set up correctly mechanically; +depending on the actual configuration it may be necessary to reverse the scaling +factors (to reverse the servo movement) and adjust the offset, scaling and +endpoints to suit. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 2 -10000 -10000 0 -10000 10000 + +Motor speed mixer +----------------- +Two scalers total (output, thrust). + +This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1) +range. Inputs below zero are treated as zero. + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 3 0 20000 -10000 -10000 10000 + + +Gimbal / flaps / payload mixer for last four channels +----------------------------------------------------- + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 4 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 5 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 6 10000 10000 0 -10000 10000 + +M: 1 +O: 10000 10000 0 -10000 10000 +S: 0 7 10000 10000 0 -10000 10000 From 1c13b5563b35ab039c30cc7147747222f7936129 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 1 May 2014 19:18:28 +0200 Subject: [PATCH 20/28] Simplify mixer file --- ROMFS/px4fmu_common/mixers/easystar.mix | 59 ++----------------------- 1 file changed, 3 insertions(+), 56 deletions(-) diff --git a/ROMFS/px4fmu_common/mixers/easystar.mix b/ROMFS/px4fmu_common/mixers/easystar.mix index 610da567f8..0051ffdbba 100644 --- a/ROMFS/px4fmu_common/mixers/easystar.mix +++ b/ROMFS/px4fmu_common/mixers/easystar.mix @@ -1,26 +1,9 @@ -Aileron/rudder/elevator/throttle mixer for PX4FMU -================================================== - -This file defines mixers suitable for controlling a fixed wing aircraft with -aileron, rudder, elevator and throttle controls using PX4FMU. The configuration -assumes the aileron servo(s) are connected to PX4FMU servo output 0, the -elevator to output 1, the rudder to output 2 and the throttle to output 3. - -Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0 -(roll), 1 (pitch) and 3 (thrust). +EASYSTAR / EASYSTAR II MIXER +============================ Aileron mixer ------------- -Two scalers total (output, roll). - -This mixer assumes that the aileron servos are set up correctly mechanically; -depending on the actual configuration it may be necessary to reverse the scaling -factors (to reverse the servo movement) and adjust the offset, scaling and -endpoints to suit. - -As there is only one output, if using two servos adjustments to compensate for -differences between the servos must be made mechanically. To obtain the correct -motion using a Y cable, the servos can be positioned reversed from one another. +One output - would be easy to add support for 2 servos M: 1 O: 10000 10000 0 -10000 10000 @@ -28,12 +11,6 @@ S: 0 0 10000 10000 0 -10000 10000 Elevator mixer ------------ -Two scalers total (output, roll). - -This mixer assumes that the elevator servo is set up correctly mechanically; -depending on the actual configuration it may be necessary to reverse the scaling -factors (to reverse the servo movement) and adjust the offset, scaling and -endpoints to suit. M: 1 O: 10000 10000 0 -10000 10000 @@ -41,12 +18,6 @@ S: 0 1 -10000 -10000 0 -10000 10000 Rudder mixer ------------ -Two scalers total (output, yaw). - -This mixer assumes that the rudder servo is set up correctly mechanically; -depending on the actual configuration it may be necessary to reverse the scaling -factors (to reverse the servo movement) and adjust the offset, scaling and -endpoints to suit. M: 1 O: 10000 10000 0 -10000 10000 @@ -54,31 +25,7 @@ S: 0 2 -10000 -10000 0 -10000 10000 Motor speed mixer ----------------- -Two scalers total (output, thrust). - -This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1) -range. Inputs below zero are treated as zero. M: 1 O: 10000 10000 0 -10000 10000 S: 0 3 0 20000 -10000 -10000 10000 - - -Gimbal / flaps / payload mixer for last four channels ------------------------------------------------------ - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 4 10000 10000 0 -10000 10000 - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 5 10000 10000 0 -10000 10000 - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 6 10000 10000 0 -10000 10000 - -M: 1 -O: 10000 10000 0 -10000 10000 -S: 0 7 10000 10000 0 -10000 10000 From 85ac2796a0f6639b279ab0b7476c98c7a7d551a7 Mon Sep 17 00:00:00 2001 From: ufoncz Date: Thu, 1 May 2014 23:36:35 +0200 Subject: [PATCH 21/28] simplified code, which is now less robust but smaller and easier to read (comment Babushkin) formated source code with fix_code_style.sh (comment Babushkin) fixed Copyright (comment Babushkin) --- src/systemcmds/ver/ver.c | 88 +++++++++++++--------------------------- 1 file changed, 29 insertions(+), 59 deletions(-) diff --git a/src/systemcmds/ver/ver.c b/src/systemcmds/ver/ver.c index c932bc1624..9ae080ee21 100644 --- a/src/systemcmds/ver/ver.c +++ b/src/systemcmds/ver/ver.c @@ -1,6 +1,6 @@ /**************************************************************************** * -* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. +* Copyright (c) 2014 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 @@ -47,7 +47,7 @@ // string constants for version commands static const char sz_ver_hw_str[] = "hw"; -static const char sz_ver_hwcmp_str[]= "hwcmp"; +static const char sz_ver_hwcmp_str[] = "hwcmp"; static const char sz_ver_git_str[] = "git"; static const char sz_ver_bdate_str[] = "bdate"; static const char sz_ver_gcc_str[] = "gcc"; @@ -62,38 +62,6 @@ static void usage(const char *reason) printf("usage: ver {hw|hwcmp|git|bdate|gcc|all}\n\n"); } -static void ver_githash(int bShowPrefix) -{ - if (bShowPrefix == 1) { - printf("FW git-hash: "); - } - printf("%s\n", FW_GIT); -} - -static void ver_hwarch(int bShowPrefix) -{ - if (bShowPrefix == 1) { - printf("HW arch: "); - } - printf("%s\n", HW_ARCH); -} - -static void ver_bdate(int bShowPrefix) -{ - if (bShowPrefix == 1) { - printf("Build datetime: "); - } - printf("%s %s\n", __DATE__, __TIME__); -} - -static void ver_gcclong(int bShowPrefix) -{ - if (bShowPrefix == 1) { - printf("GCC toolchain: "); - } - printf("%s\n", __VERSION__); -} - __EXPORT int ver_main(int argc, char *argv[]); int ver_main(int argc, char *argv[]) @@ -104,48 +72,50 @@ int ver_main(int argc, char *argv[]) if (argc >= 2) { if (argv[1] != NULL) { if (!strncmp(argv[1], sz_ver_hw_str, sizeof(sz_ver_hw_str))) { - ver_hwarch(0); + printf("%s\n", HW_ARCH); ret = 0; - } - else if (!strncmp(argv[1], sz_ver_hwcmp_str, sizeof(sz_ver_hwcmp_str))) { + + } else if (!strncmp(argv[1], sz_ver_hwcmp_str, sizeof(sz_ver_hwcmp_str))) { if (argc >= 3 && argv[2] != NULL) { // compare 3rd parameter with HW_ARCH string, in case of match, return 0 ret = strncmp(HW_ARCH, argv[2], strlen(HW_ARCH)); + if (ret == 0) { - printf("hwver match: %s\n", HW_ARCH); + printf("ver hwcmp match: %s\n", HW_ARCH); } + } else { errx(1, "Not enough arguments, try 'ver hwcmp PX4FMU_V2'"); } - } - else if (!strncmp(argv[1], sz_ver_git_str, sizeof(sz_ver_git_str))) { - ver_githash(0); + + } else if (!strncmp(argv[1], sz_ver_git_str, sizeof(sz_ver_git_str))) { + printf("%s\n", FW_GIT); ret = 0; - } - else if (!strncmp(argv[1], sz_ver_bdate_str, sizeof(sz_ver_bdate_str))) { - ver_bdate(0); + + } else if (!strncmp(argv[1], sz_ver_bdate_str, sizeof(sz_ver_bdate_str))) { + printf("%s %s\n", __DATE__, __TIME__); ret = 0; - } - else if (!strncmp(argv[1], sz_ver_gcc_str, sizeof(sz_ver_gcc_str))) { - ver_gcclong(0); + + } else if (!strncmp(argv[1], sz_ver_gcc_str, sizeof(sz_ver_gcc_str))) { + printf("%s\n", __VERSION__); ret = 0; - } - else if (!strncmp(argv[1], sz_ver_all_str, sizeof(sz_ver_all_str))) { - ver_hwarch(1); - ver_bdate(1); - ver_githash(1); - ver_gcclong(1); + + } else if (!strncmp(argv[1], sz_ver_all_str, sizeof(sz_ver_all_str))) { + printf("HW arch: %s\n", HW_ARCH); + printf("Build datetime: %s %s\n", __DATE__, __TIME__); + printf("FW git-hash: %s\n", FW_GIT); + printf("GCC toolchain: %s\n", __VERSION__); ret = 0; - } - else { + + } else { errx(1, "unknown command.\n"); } - } - else { + + } else { usage("Error, input parameter NULL.\n"); } - } - else { + + } else { usage("Error, not enough parameters."); } From f6d61dfb4cac8e243b92e637d9d11a3a3970d336 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Thu, 1 May 2014 23:45:21 +0200 Subject: [PATCH 22/28] mavlink: swap x and y when handling MANUAL_CONTROL mavlink message --- src/modules/mavlink/mavlink_receiver.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 33a4fef126..7c93c1c009 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -432,8 +432,8 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg) memset(&manual, 0, sizeof(manual)); manual.timestamp = hrt_absolute_time(); - manual.roll = man.x / 1000.0f; - manual.pitch = man.y / 1000.0f; + manual.pitch = man.x / 1000.0f; + manual.roll = man.y / 1000.0f; manual.yaw = man.r / 1000.0f; manual.throttle = man.z / 1000.0f; From b607933ded6fb2950a278208a018514b4a3c93d4 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Fri, 2 May 2014 14:22:20 +0200 Subject: [PATCH 23/28] add .ropeproject to .gitignore --- .gitignore | 1 + 1 file changed, 1 insertion(+) diff --git a/.gitignore b/.gitignore index 5b345b34a8..c992dbf5a5 100644 --- a/.gitignore +++ b/.gitignore @@ -37,3 +37,4 @@ mavlink/include/mavlink/v0.9/ tags .tags_sorted_by_file .pydevproject +.ropeproject From 047dfc77141e3eb07b9e392e75879ebc0b4bcd6c Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Fri, 2 May 2014 13:23:47 +0200 Subject: [PATCH 24/28] romfs pruner: do not try to prune .swp files --- Tools/px_romfs_pruner.py | 29 +++++++++++++++-------------- 1 file changed, 15 insertions(+), 14 deletions(-) diff --git a/Tools/px_romfs_pruner.py b/Tools/px_romfs_pruner.py index ceef9f9be7..9c88ec3726 100644 --- a/Tools/px_romfs_pruner.py +++ b/Tools/px_romfs_pruner.py @@ -43,29 +43,30 @@ from __future__ import print_function import argparse import os + def main(): - + # Parse commandline arguments parser = argparse.ArgumentParser(description="ROMFS pruner.") parser.add_argument('--folder', action="store", help="ROMFS scratch folder.") args = parser.parse_args() - + print("Pruning ROMFS files.") - - # go through + + # go through for (root, dirs, files) in os.walk(args.folder): for file in files: # only prune text files - if ".zip" in file or ".bin" in file: + if ".zip" in file or ".bin" or ".swp" in file: continue - - file_path = os.path.join(root, file) - + + file_path = os.path.join(root, file) + # read file line by line pruned_content = "" with open(file_path, "r") as f: - for line in f: - + for line in f: + # handle mixer files differently than startup files if file_path.endswith(".mix"): if line.startswith(("Z:", "M:", "R: ", "O:", "S:")): @@ -73,11 +74,11 @@ def main(): else: if not line.isspace() and not line.strip().startswith("#"): pruned_content += line - + # overwrite old scratch file with open(file_path, "w") as f: f.write(pruned_content) - - + + if __name__ == '__main__': - main() \ No newline at end of file + main() From de87d6df69fd797fd3dfb8ac41d2c75e468dffc0 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Fri, 2 May 2014 14:23:22 +0200 Subject: [PATCH 25/28] do not copy hidden files to ROMFS --- makefiles/firmware.mk | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/makefiles/firmware.mk b/makefiles/firmware.mk index 1b646d9e00..69c975acd2 100644 --- a/makefiles/firmware.mk +++ b/makefiles/firmware.mk @@ -113,7 +113,7 @@ endif $(info % GIT_DESC = $(GIT_DESC)) # -# Set a default target so that included makefiles or errors here don't +# Set a default target so that included makefiles or errors here don't # cause confusion. # # XXX We could do something cute here with $(DEFAULT_GOAL) if it's not one @@ -177,7 +177,7 @@ GLOBAL_DEPS += $(MAKEFILE_LIST) # # Extra things we should clean # -EXTRA_CLEANS = +EXTRA_CLEANS = # @@ -371,6 +371,8 @@ $(ROMFS_IMG): $(ROMFS_SCRATCH) $(ROMFS_DEPS) $(GLOBAL_DEPS) $(ROMFS_SCRATCH): $(ROMFS_DEPS) $(GLOBAL_DEPS) $(Q) $(MKDIR) -p $(ROMFS_SCRATCH) $(Q) $(COPYDIR) $(ROMFS_ROOT)/* $(ROMFS_SCRATCH) +# delete all files in ROMFS_SCRATCH which start with a . + $(Q) $(RM) $(ROMFS_SCRATCH)/*/.[!.]* $(ROMFS_SCRATCH)/*/*~ ifneq ($(ROMFS_EXTRA_FILES),) $(Q) $(MKDIR) -p $(ROMFS_SCRATCH)/extras $(Q) $(COPY) $(ROMFS_EXTRA_FILES) $(ROMFS_SCRATCH)/extras From 3424a65e3229a0bc5a1d78979356436392def264 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Fri, 2 May 2014 14:28:47 +0200 Subject: [PATCH 26/28] update comment in makefile --- makefiles/firmware.mk | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/makefiles/firmware.mk b/makefiles/firmware.mk index 69c975acd2..60602e76fe 100644 --- a/makefiles/firmware.mk +++ b/makefiles/firmware.mk @@ -371,7 +371,7 @@ $(ROMFS_IMG): $(ROMFS_SCRATCH) $(ROMFS_DEPS) $(GLOBAL_DEPS) $(ROMFS_SCRATCH): $(ROMFS_DEPS) $(GLOBAL_DEPS) $(Q) $(MKDIR) -p $(ROMFS_SCRATCH) $(Q) $(COPYDIR) $(ROMFS_ROOT)/* $(ROMFS_SCRATCH) -# delete all files in ROMFS_SCRATCH which start with a . +# delete all files in ROMFS_SCRATCH which start with a . or end with a ~ $(Q) $(RM) $(ROMFS_SCRATCH)/*/.[!.]* $(ROMFS_SCRATCH)/*/*~ ifneq ($(ROMFS_EXTRA_FILES),) $(Q) $(MKDIR) -p $(ROMFS_SCRATCH)/extras From d5e463352ddf501fa9cfcf7921fd31bae1153ce1 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Fri, 2 May 2014 17:34:50 +0200 Subject: [PATCH 27/28] romfs pruner: fix filename check --- Tools/px_romfs_pruner.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Tools/px_romfs_pruner.py b/Tools/px_romfs_pruner.py index 9c88ec3726..fcc40b09e1 100644 --- a/Tools/px_romfs_pruner.py +++ b/Tools/px_romfs_pruner.py @@ -57,7 +57,7 @@ def main(): for (root, dirs, files) in os.walk(args.folder): for file in files: # only prune text files - if ".zip" in file or ".bin" or ".swp" in file: + if ".zip" in file or ".bin" in file or ".swp" in file: continue file_path = os.path.join(root, file) From 22f262a241256e54aa6a03763689bdcdeb39be87 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 3 May 2014 12:40:11 +0200 Subject: [PATCH 28/28] host tests: Fix missing newlines --- Tools/tests-host/autodeclination_test.cpp | 2 +- Tools/tests-host/mixer_test.cpp | 2 +- Tools/tests-host/sbus2_test.cpp | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/Tools/tests-host/autodeclination_test.cpp b/Tools/tests-host/autodeclination_test.cpp index 6c751dc1e7..93bc340bb3 100644 --- a/Tools/tests-host/autodeclination_test.cpp +++ b/Tools/tests-host/autodeclination_test.cpp @@ -25,4 +25,4 @@ int main(int argc, char *argv[]) { printf("lat: %f lon: %f, dec: %f\n", lat, lon, declination); -} \ No newline at end of file +} diff --git a/Tools/tests-host/mixer_test.cpp b/Tools/tests-host/mixer_test.cpp index e311617f96..06499afd0e 100644 --- a/Tools/tests-host/mixer_test.cpp +++ b/Tools/tests-host/mixer_test.cpp @@ -11,4 +11,4 @@ int main(int argc, char *argv[]) { test_mixer(3, args); test_conv(1, args); -} \ No newline at end of file +} diff --git a/Tools/tests-host/sbus2_test.cpp b/Tools/tests-host/sbus2_test.cpp index 281903cf68..d8fcb695d8 100644 --- a/Tools/tests-host/sbus2_test.cpp +++ b/Tools/tests-host/sbus2_test.cpp @@ -72,4 +72,4 @@ int main(int argc, char *argv[]) { warnx("Test aborted, errno: %d", ret); } -} \ No newline at end of file +}