- this is a new module for temperature compensation that consolidates the functionality previously handled in the sensors module (calculating runtime thermal corrections) and the events module (online thermal calibration)
- by collecting this functionality into a single module we can optionally disable it on systems where it's not used and save some flash (if disabled at build time) or memory (disabled at run time)
The bulk of this change was tightly coupled and needed to be deleted in one pass. Some of the smaller changes were things that broke as a result of the initial purge and subsequently fixed by further eradicating unnecessary platform differences. Finally, I deleted any dead code I came across in the related files I touched while going through everything.
- DriverFramework (src/lib/DriverFramework submodule) completely removed
- added dspal submodule in qurt platform (was brought in via DriverFramework)
- all df wrapper drivers removed
- all boards using df wrapper drivers updated to use in tree equivalents
- unused empty arch/board.h on posix and qurt removed
- unused IOCTLs removed (pub block, priv, etc)
- Integrator delete methods only used from df wrapper drivers
- commander: sensor calibration use "NuttX version" everywhere for now
- sensors: update to px4_{open, read, close} instead of DevMgr wrapper (adc open for analog differential pressure)
- battery_status: update to px4_{open, read, close} instead of DevMgr wrapper (adc open for analog differential pressure)
- cdev cleanup conflicting typedefs and names with actual OS (pollevent_t, etc)
- load_mon and top remove from linux boards (unused)
- delete unused PX4_MAIN_FUNCTION
- delete unused getreg32 macro
- delete unused SIOCDEVPRIVATE define
- named each platform tasks consistently
- posix list_devices and list_topics removed (list_files now shows all virtual files)
Setting PTHREAD_EXPLICIT_SCHED was necessary on linux to create WQ threads with priorities relative to max, but unfortunately we can't rely pthread_attr_setinheritsched as it's dependent on system ulimit configuration or running privileged. Instead we can create the wq:manager at the maximum desired priority and allow each WQ thread to have a relative priority.
- fixed df_ltc2946_wrapper battery dependency
- fixed px4::atomic fetch_add for QuRT
- updated PX4 QuRT SPI wrapper to set bus frequency
- renamed "qurt-default" configs to just "qurt"
- instrumenting PX4 Matrix and Param methods is too burdensome
- partially restore px4_fmu-v5_stackcheck and holybro_durandal-v1_stackcheck to match default configs
This target was never fully supported and is heavily dependent on a number of DriverFramework drivers that have no in tree equivalents (bebop bus, flow, rangefinder, etc). Deleting this will make it easier to fully drop DriverFramework shortly.
- deprecate DriverFramework bmp280 driver (df_bmp280_wrapper)
- update beaglebone blue and snapdragon flight eagle boards to use in tree bmp280
- update posix (really just linux) and qurt I2C wrappers
- tested on beaglebone blue
In general, if anything goes wrong in the startup script, we
should fail entirely because things might not work as expected.
In particular, this prevents that we have to press Ctrl+C twice if the
simulator start call is hung waiting for the simulator to appear and
start communicating. We now press Ctrl+C once and exit straightaway
whereas before we would press it once to get the warning:
"Startup script returned with return value: 2",
and then finally exit on the second press.
- nuttx in PX4/Firmware (327c7f3672ee5f066ec53dfe1554a02d1aa610da): 2e55ce8ec9
- nuttx current upstream: 9331fda0d7
- Changes: 2e55ce8ec9...9331fda0d7
9331fda0d7 2019-12-10 David Sidrane - [BACKPORT] IMXRT106x USDHC: Support regular GPIO for CD and inversion.
91c80c708b 2019-12-05 David Sidrane - [BACKPORT] imxrt106x:pinout add ALT 8 GPIO_GPT1_CAPTURE[1|2]
32f758f0e9 2019-12-03 David Sidrane - [BACKPORT] stm32f7:Add Serial Tx DMA
- added gazebo VTOL tailsitter debug target
- improved jmavsim debug target and helper tasks to work properly (build and launch directly instead of through the jmavsim_run.sh script)
- improved output console handling for helper tasks (eg gazebo and jmavsim build and run, followed by cleanup after debug)
- added miniterm.py as a task
- nuttx in PX4/Firmware (22a005c9f4): 2d7920055f
- nuttx current upstream: 398a59aaa4
- Changes: 2d7920055f...398a59aaa4
398a59aaa4 2019-11-29 David Sidrane - [BACKPORT] stm32f7:ethernet: Add some delays so that ifup() does not hog the CPU.
Change PID to 0x4b:
Holybro obtained their own PID and VID but APM did not follow
the PX4 convention of makeing the board_id (0x8b) match the PID)
Incorporated the Upstream Bootloader state sequencing checking change.
Change the usb cout to send all chars in 1 write.
The Addition of PX4_ARCH_DCACHE_LINESIZE is fundamentally wrong.
It asserst that an STM32F4 has a cache and it does not.
This should be #if defined() on CONFIG_ARMV7M_DCACHE
Main UAVCAN protocol handling and ESC updates run on the same thread/wq as
before. There are 2 WorkItems for separate scheduling of the 2, so that
ESC updates run in sync with actuator_control updates. UAVCAN is scheduled
at a fixed rate of 3ms (previously the poll timeout) and on each UAVCAN
bus event.
This leads to roughly the same behavior as before. CPU & RAM usage are
pretty much the same (tested on Pixhawk 4).
Testing done: Motors still work (with feedback), param changes and a
UAVCAN optical flow sensor.
getLockGuard relies on copy elision to work correctly, which the compiler
is not required to do (only with C++17).
If no copy elision happens, the mutex ends up being unlocked twice, and the
CS is executed with the mutex unlocked.
The patch also ensures that the same pattern cannot be used again.
and remove the px4_ prefix, except for px4_config.h.
command to update includes:
for k in app.h atomic.h cli.h console_buffer.h defines.h getopt.h i2c.h init.h log.h micro_hal.h module.h module_params.h param.h param_macros.h posix.h sem.h sem.hpp shmem.h shutdown.h tasks.h time.h workqueue.h; do for i in $(grep -rl 'include <px4_'$k src platforms boards); do sed -i 's/#include <px4_'$k'/#include <px4_platform_common\/'$k/ $i; done; done
for in $(grep -rl 'include <px4_config.h' src platforms boards); do sed -i 's/#include <px4_config.h/#include <px4_platform_common\/px4_config.h'/ $i; done
Transitional headers for submodules are added (px4_{defines,log,time}.h)
This could happen in the following cases:
- IRQ/publisher rate is faster than the processing rate, and therefore
WorkQueue::Add is called at a higher rate
- a long-running or stuck task that blocks the work queue a long time
Both cases are not expected to happen under 'normal' circumstances (if the
system runs as expected).
This reloads the timer configuration before triggering DMA. Without that,
in rare cases, there were 17 bits sent instead of 16.
The 1. bit (1. pulse) was always wrong (too much), the rest of the bits
were the correct DShot packet that was meant to be sent.
* adds a work_queue systemcmd that will bring a tree view of all active work queues and work items
* WorkQueues now track attached WorkItems and will shutdown when the last WorkItem is detached
Script to update include paths:
for i in $(grep -rl 'include <px4_work_queue' src platforms); do sed -i 's/#include <px4_work_queue/#include <px4_platform_common\/px4_work_queue/' $i; done
* Add kdevelop to gitignore
* Add test stubs
* Rename px4_add_gtest to px4_add_unit_gtest
* Add infrastructure to run functional tests
* Add example tests with parameters and uorb messages
* Fix memory issues in destructors in uORB manager and CDev
* Add a more real-world test of the collision prevention
- nuttx in PX4/Firmware (be76f909beadfe80415b733c020695efb042adef): b4013dcd4a
- nuttx current upstream: 14f4dc735a
- Changes: b4013dcd4a...14f4dc735a
14f4dc7 2019-08-05 David Sidrane - [BACKPORT] kinetis:i2c transfer ensure correct result returned
- nuttx in PX4/Firmware (0654fdcf0ec7e45cc1e1ca5cc38de6c5e36417bc): feb5b6f174
- nuttx current upstream: 257e1730dc
- Changes: feb5b6f174...257e1730dc
257e173 2019-07-26 David Sidrane - [BACKPORT] stm32f7:If only one SDMMC it is slot 0
The current SEGV handling on posix is not useful: as soon as our handler
is left, it's triggered again, infinitely.
This patch changes to restore the original handler, so the OS can create
a core dump, etc.
This moves the hysteresis test out of the systemlib and makes it its own
small library. Since it still depends on hrt_absolute_time this does not
link yet. My attempt to get all link dependencies together failed.
This makes sure we add the lockstep_scheduler_test even if the
ENABLE_LOCKSTEP_SCHEDULER is not set to yes. This means the
lockstep_scheduler is not used for SITL but the CMakeLists.txt file
still used and the test added.
This fixes build races which happened if "Unix Makefiles" instead of
ninja-build was used as the cmake backend.
For any dependencies of commands on files we need to create a target.
Otherwise, if "Unix Makefiles" are used as the generator the commands
are run in parallel on the different files which often can lead to
races or redundancies in our build.
A nice write-up can be found here:
https://samthursfield.wordpress.com/2015/11/21/
cmake-dependencies-between-targets-and-files-and-custom-commands/#
custom-commands-and-parallel-make
It turns out that we can fix the unit tests of the lockstep_scheduler
just by checking if `passed_lock` is not `nullptr`.
Without this check, the unit tests segfaulted.
This solves a potential dead-lock when trying to shutdown: a call to exit()
stops all threads and calls all destructors for static objects.
The destructor of LockstepScheduler takes a lock. However this is not
safe, as the lock could already be taken (by any thread).
Some threads do not exit and are still running when
trying to exit SITL running under Windows in Cygwin.
This problem was introduced with:
- posix shell #10173 because of strating a child process
for the startup script and mixing up the signal handling
(only Ctrl+C broken)
- lockstep #10648 because of simulator threads not
stopping gracefully anymore with timing race conditions
(no graceful exit possible anymore)
I leave the SIGINT handler on its default implementation for
Cygwin which kills the process and all its threads when pressing
Ctrl+C.
This hotfix at least allows the usage of Ctrl+C again instead
of forcing the user to use the task manager to shut down
px4.exe going crazy on CPU load instead of exiting
everytime.
- use a linked-list instead of std::vector. Insertion and removal are now
O(1)
- avoid malloc and use a thread_local instance of TimedWait.
It gets destroyed when the thread exits, so we have to add protection
in case a thread exits too quickly. This in turn requires a fix to the
unit-tests.
The API of cond_timedwait was wrong. It used return -1 and set errno
instead of returning the error as specified for pthread_cond_timedwait
which it tries to mock.
It seems that the hysteresis test fails every now and then, presumably
due to timing issues. The tests needs some improvements, e.g. isolating
it from the system time.
@bkueng found that the old implementation was likely to wrap-around
given seconds is only a uint32_t. We now cast it directly to uint64_t
and therefore should fix this problem.
This uses the "fake" px4_sem based on mutex and condition_variable on
all POSIX system, not just macOS and Cygwin. This means that we can
change px4_sem_timedwait under the hood and inject the simulated time.
This integrates the lockstep_scheduler, so that the system time is set
by the mavlink HIL_SENSOR message.
This means that the speed factor is removed and the speed is entirely
given by the simulator.
These contains some rough changes trying to get SITL to speed up by a
SPEED_FACTOR.
This platform time code probably requires some more thought and refactor
but this gets a demo at 4x working.
Daniel Agar
David Sidrane
Julian Oes
Lorenz Meier
Christian Clauss
Chris Lovett
kamilritz
PX4 BuildBot
Matthias Grob
Beat Küng
TSC21
FlavioTonelli
Igor Mišić
Kjkinney
roangel
Hyon Lim
Julian Kent
Anthony Lamping
David Sidrane
mcsauder
Nico van Duijn
karliss
James Goppert
Kārlis Seņko